Add simple benchamrk scripts.

test/benchmark/measure_performace.sh

@@ -0,0 +1,47 @@
+#!/bin/bash
+
+# Copyright (C) 2016, Open Source Robotics Foundation
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in the
+# documentation and/or other materials provided with the distribution.
+# * Neither the names of Stanford University or Open Source Robotics Foundation. nor the names of its
+# contributors may be used to endorse or promote products derived from
+# this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+function iterate_command {
+ command=${1:-"rospack profile"};
+ num_iteration=${2:-10000};
+ for i in $(seq 1 ${num_iteration}); do
+ echo "${i}th iteration.";
+ $command;
+ done
+}
+
+function measure_performance {
+ command=${1:-"rospack profile"};
+ num_iteration=${2:-100000};
+ output_filename=${3:-"straceResult_${command// /-}_${num_iteration}_`date +%Y%m%d%H%M%S`.log"};
+ echo "Command to be measured: ${command}";
+
+ export ROS_CACHE_TIMEOUT=0.0 # Needed to not use cache.
+
+ # strace doesn't easily call a function. http://unix.stackexchange.com/questions/339173/strace-not-finding-shell-function-with-cant-stat-error
+ strace -o ${output_filename} -c -Ttt bash -c "$(typeset -f iterate_command); iterate_command '${command}' $num_iteration";
+}