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Create a performance test to qualify different client libraries #5

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tfoote opened this issue Sep 4, 2012 · 0 comments
Open

Create a performance test to qualify different client libraries #5

tfoote opened this issue Sep 4, 2012 · 0 comments
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enhancement
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untargeted

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@tfoote
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tfoote commented Sep 4, 2012

This will be a test suite which can be run against different client libraries to verify performance characterisitcs of the libraries on different platforms.

It should include various sized messages, different rates, throughput, cpu utilization. Services and parameter access tests.
@tfoote tfoote mentioned this issue Jan 31, 2013
Closed
@jarvisschultz jarvisschultz mentioned this issue Apr 4, 2013
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@jasonimercer jasonimercer mentioned this issue Jul 6, 2015
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tfoote pushed a commit that referenced this issue Jun 17, 2016
@ruffsl
Merge pull request #5 from ruffsl/sros
7433e91 
Improving graph enforcment yaml format
contradict pushed a commit to contradict/ros_comm that referenced this issue Aug 12, 2016
rqt_bag: fixes ros#5
5723ba2
lsolanka added a commit to ros-hunter/ros_comm that referenced this issue Dec 10, 2017
@lsolanka
compile ros_comm and run roscpp tests (there are some non-critical fa…
d35a243 
…ilures)

Issues:
- some roswtf tests fail - not sure what the problem is

- Due to use of global variables there are issues with destruction of
global objects in various translation units, during the process
shutdown. This is related to Subscriber and Publisher and happens only
in executables where they are defined as global variables outside of
main. Example: some topic_tools components such as throttle

This is most likely related to the fact that now various components are
statically linked instead of dynamically. And for instance if an
executable depends on rosconsole, and we define a publisher as a global
object, when the program exits, the publisher is getting destroyed, but
other global variables get destroyed before that:

> Core was generated by `devel/lib/topic_tools/throttle messages /input 5'.
> Program terminated with signal SIGABRT, Aborted.
> #0  0x00007f277238c428 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:54
> 54      ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
> [Current thread is 1 (Thread 0x7f2773b90780 (LWP 24620))]
> (gdb) bt
> #0  0x00007f277238c428 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:54
> ros#1  0x00007f277238e02a in __GI_abort () at abort.c:89
> ros#2  0x00007f2772ccf7dd in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#3  0x00007f2772ccd6b6 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#4  0x00007f2772ccd701 in std::terminate() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#5  0x00007f2772cce23f in __cxa_pure_virtual () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#6  0x0000000000719a64 in boost::system::error_code::message[abi:cxx11]() const (this=0x1fb5f00)
>     at .../include/boost/system/error_code.hpp:477
> ros#7  0x000000000071a0ed in boost::system::system_error::what (this=0x1fb5ef0) at .../include/boost/system/system_error.hpp:70
> ros#8  0x00007f2772ccf805 in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#9  0x00007f2772ccd6b6 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#10 0x00007f2772ccc6a9 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#11 0x00007f2772ccd005 in __gxx_personality_v0 () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#12 0x00007f2772730f83 in ?? () from /lib/x86_64-linux-gnu/libgcc_s.so.1
> ros#13 0x00007f2772731487 in _Unwind_Resume () from /lib/x86_64-linux-gnu/libgcc_s.so.1
> ros#14 0x000000000071a557 in boost::mutex::lock (this=0xbb7fa0 <ros::console::g_locations_mutex>)
>     at .../include/boost/thread/pthread/mutex.hpp:119
> ros#15 0x000000000071c723 in boost::unique_lock<boost::mutex>::lock (this=0x7fff031f4950)
>     at .../include/boost/thread/lock_types.hpp:346
> ros#16 0x000000000071bdeb in boost::unique_lock<boost::mutex>::unique_lock (this=0x7fff031f4950, m_=...)
>     at .../include/boost/thread/lock_types.hpp:124
> ros#17 0x0000000000718dae in ros::console::initializeLogLocation (loc=0xbb5c70 <ros::Publisher::Impl::~Impl()::__rosconsole_define_location__loc>, name="ros.roscpp",
>     level=ros::console::levels::Debug) at .../ros_comm/tools/rosconsole/src/rosconsole/rosconsole.cpp:632
> ros#18 0x00000000007278b6 in ros::Publisher::Impl::~Impl (this=0x1fb6730, __in_chrg=<optimised out>) at .../ros_comm/clients/roscpp/src/libros/publisher.cpp:40
> ros#19 0x00000000007299a9 in boost::detail::sp_ms_deleter<ros::Publisher::Impl>::destroy (this=0x1fb6728)
>     at .../include/boost/smart_ptr/make_shared_object.hpp:59
> ros#20 0x0000000000729b14 in boost::detail::sp_ms_deleter<ros::Publisher::Impl>::operator() (this=0x1fb6728)
>     at .../include/boost/smart_ptr/make_shared_object.hpp:93
> ros#21 0x0000000000729a53 in boost::detail::sp_counted_impl_pd<ros::Publisher::Impl*, boost::detail::sp_ms_deleter<ros::Publisher::Impl> >::dispose (this=0x1fb6710)
>     at .../include/boost/smart_ptr/detail/sp_counted_impl.hpp:172
> ros#22 0x0000000000707ab5 in boost::detail::sp_counted_base::release (this=0x1fb6710)
>     at .../include/boost/smart_ptr/detail/sp_counted_base_std_atomic.hpp:110
> ros#23 0x0000000000707b41 in boost::detail::shared_count::~shared_count (this=0xbb7d28 <g_pub+8>, __in_chrg=<optimised out>)
>     at .../include/boost/smart_ptr/detail/shared_count.hpp:426
> ros#24 0x0000000000707ef4 in boost::shared_ptr<ros::Publisher::Impl>::~shared_ptr (this=0xbb7d20 <g_pub>, __in_chrg=<optimised out>)
>     at .../include/boost/smart_ptr/shared_ptr.hpp:341
> ros#25 0x0000000000727bce in ros::Publisher::~Publisher (this=0xbb7d20 <g_pub>, __in_chrg=<optimised out>)
>     at .../ros_comm/clients/roscpp/src/libros/publisher.cpp:74
> ros#26 0x00007f2772390ff8 in __run_exit_handlers (status=0, listp=0x7f277271b5f8 <__exit_funcs>, run_list_atexit=run_list_atexit@entry=true) at exit.c:82
> ros#27 0x00007f2772391045 in __GI_exit (status=<optimised out>) at exit.c:104
> ros#28 0x00007f2772377837 in __libc_start_main (main=0x706886 <main(int, char**)>, argc=4, argv=0x7fff031f4bf8, init=<optimised out>, fini=<optimised out>, rtld_fini=<optimised out>,
>     stack_end=0x7fff031f4be8) at ../csu/libc-start.c:325
> ros#29 0x0000000000705bc9 in _start ()
lsolanka added a commit to ros-hunter/ros_comm that referenced this issue Jun 3, 2018
@lsolanka
compile ros_comm and run roscpp tests (there are some non-critical fa…
7de5ea1 
…ilures)

Issues:
- some roswtf tests fail - not sure what the problem is

- Due to use of global variables there are issues with destruction of
global objects in various translation units, during the process
shutdown. This is related to Subscriber and Publisher and happens only
in executables where they are defined as global variables outside of
main. Example: some topic_tools components such as throttle

This is most likely related to the fact that now various components are
statically linked instead of dynamically. And for instance if an
executable depends on rosconsole, and we define a publisher as a global
object, when the program exits, the publisher is getting destroyed, but
other global variables get destroyed before that:

> Core was generated by `devel/lib/topic_tools/throttle messages /input 5'.
> Program terminated with signal SIGABRT, Aborted.
> #0  0x00007f277238c428 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:54
> 54      ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
> [Current thread is 1 (Thread 0x7f2773b90780 (LWP 24620))]
> (gdb) bt
> #0  0x00007f277238c428 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:54
> ros#1  0x00007f277238e02a in __GI_abort () at abort.c:89
> ros#2  0x00007f2772ccf7dd in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#3  0x00007f2772ccd6b6 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#4  0x00007f2772ccd701 in std::terminate() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#5  0x00007f2772cce23f in __cxa_pure_virtual () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#6  0x0000000000719a64 in boost::system::error_code::message[abi:cxx11]() const (this=0x1fb5f00)
>     at .../include/boost/system/error_code.hpp:477
> ros#7  0x000000000071a0ed in boost::system::system_error::what (this=0x1fb5ef0) at .../include/boost/system/system_error.hpp:70
> ros#8  0x00007f2772ccf805 in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#9  0x00007f2772ccd6b6 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#10 0x00007f2772ccc6a9 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#11 0x00007f2772ccd005 in __gxx_personality_v0 () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#12 0x00007f2772730f83 in ?? () from /lib/x86_64-linux-gnu/libgcc_s.so.1
> ros#13 0x00007f2772731487 in _Unwind_Resume () from /lib/x86_64-linux-gnu/libgcc_s.so.1
> ros#14 0x000000000071a557 in boost::mutex::lock (this=0xbb7fa0 <ros::console::g_locations_mutex>)
>     at .../include/boost/thread/pthread/mutex.hpp:119
> ros#15 0x000000000071c723 in boost::unique_lock<boost::mutex>::lock (this=0x7fff031f4950)
>     at .../include/boost/thread/lock_types.hpp:346
> ros#16 0x000000000071bdeb in boost::unique_lock<boost::mutex>::unique_lock (this=0x7fff031f4950, m_=...)
>     at .../include/boost/thread/lock_types.hpp:124
> ros#17 0x0000000000718dae in ros::console::initializeLogLocation (loc=0xbb5c70 <ros::Publisher::Impl::~Impl()::__rosconsole_define_location__loc>, name="ros.roscpp",
>     level=ros::console::levels::Debug) at .../ros_comm/tools/rosconsole/src/rosconsole/rosconsole.cpp:632
> ros#18 0x00000000007278b6 in ros::Publisher::Impl::~Impl (this=0x1fb6730, __in_chrg=<optimised out>) at .../ros_comm/clients/roscpp/src/libros/publisher.cpp:40
> ros#19 0x00000000007299a9 in boost::detail::sp_ms_deleter<ros::Publisher::Impl>::destroy (this=0x1fb6728)
>     at .../include/boost/smart_ptr/make_shared_object.hpp:59
> ros#20 0x0000000000729b14 in boost::detail::sp_ms_deleter<ros::Publisher::Impl>::operator() (this=0x1fb6728)
>     at .../include/boost/smart_ptr/make_shared_object.hpp:93
> ros#21 0x0000000000729a53 in boost::detail::sp_counted_impl_pd<ros::Publisher::Impl*, boost::detail::sp_ms_deleter<ros::Publisher::Impl> >::dispose (this=0x1fb6710)
>     at .../include/boost/smart_ptr/detail/sp_counted_impl.hpp:172
> ros#22 0x0000000000707ab5 in boost::detail::sp_counted_base::release (this=0x1fb6710)
>     at .../include/boost/smart_ptr/detail/sp_counted_base_std_atomic.hpp:110
> ros#23 0x0000000000707b41 in boost::detail::shared_count::~shared_count (this=0xbb7d28 <g_pub+8>, __in_chrg=<optimised out>)
>     at .../include/boost/smart_ptr/detail/shared_count.hpp:426
> ros#24 0x0000000000707ef4 in boost::shared_ptr<ros::Publisher::Impl>::~shared_ptr (this=0xbb7d20 <g_pub>, __in_chrg=<optimised out>)
>     at .../include/boost/smart_ptr/shared_ptr.hpp:341
> ros#25 0x0000000000727bce in ros::Publisher::~Publisher (this=0xbb7d20 <g_pub>, __in_chrg=<optimised out>)
>     at .../ros_comm/clients/roscpp/src/libros/publisher.cpp:74
> ros#26 0x00007f2772390ff8 in __run_exit_handlers (status=0, listp=0x7f277271b5f8 <__exit_funcs>, run_list_atexit=run_list_atexit@entry=true) at exit.c:82
> ros#27 0x00007f2772391045 in __GI_exit (status=<optimised out>) at exit.c:104
> ros#28 0x00007f2772377837 in __libc_start_main (main=0x706886 <main(int, char**)>, argc=4, argv=0x7fff031f4bf8, init=<optimised out>, fini=<optimised out>, rtld_fini=<optimised out>,
>     stack_end=0x7fff031f4be8) at ../csu/libc-start.c:325
> ros#29 0x0000000000705bc9 in _start ()
johnsonshih added a commit to johnsonshih/ros_comm that referenced this issue Sep 18, 2018
@johnsonshih
Use so.linesep instead of hard-coded character (ros#5)
1731716
@rishabh900 rishabh900 mentioned this issue Sep 17, 2019
Closed
@meng-atomic meng-atomic mentioned this issue Jul 3, 2020
Open
@Sunriseyms Sunriseyms mentioned this issue Dec 29, 2021
Open
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