Merge pull request #1237 from tier4/feature/perf

Feature/perf
tier4 · May 1, 2024 · 934f8f8 · 934f8f8
2 parents 1313ef5 + 31b11a0
commit 934f8f8
Showing 1 changed file with 11 additions and 1 deletion.
diff --git a/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py b/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py
@@ -21,7 +21,7 @@
 
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
 
-from launch.conditions import IfCondition
+from launch.conditions import IfCondition, UnlessCondition
 
 from launch.substitutions import LaunchConfiguration
 
@@ -65,6 +65,7 @@ def launch_setup(context, *args, **kwargs):
     autoware_launch_package             = LaunchConfiguration("autoware_launch_package",                default=default_autoware_launch_package_of(architecture_type.perform(context)))
     consider_acceleration_by_road_slope = LaunchConfiguration("consider_acceleration_by_road_slope",    default=False)
     consider_pose_by_road_slope         = LaunchConfiguration("consider_pose_by_road_slope",            default=True)
+    enable_perf                         = LaunchConfiguration("enable_perf",                            default=False)
     global_frame_rate                   = LaunchConfiguration("global_frame_rate",                      default=30.0)
     global_real_time_factor             = LaunchConfiguration("global_real_time_factor",                default=1.0)
     global_timeout                      = LaunchConfiguration("global_timeout",                         default=180)
@@ -88,6 +89,7 @@ def launch_setup(context, *args, **kwargs):
     print(f"autoware_launch_package             := {autoware_launch_package.perform(context)}")
     print(f"consider_acceleration_by_road_slope := {consider_acceleration_by_road_slope.perform(context)}")
     print(f"consider_pose_by_road_slope         := {consider_pose_by_road_slope.perform(context)}")
+    print(f"enable_perf                         := {enable_perf.perform(context)}")
     print(f"global_frame_rate                   := {global_frame_rate.perform(context)}")
     print(f"global_real_time_factor             := {global_real_time_factor.perform(context)}")
     print(f"global_timeout                      := {global_timeout.perform(context)}")
@@ -104,6 +106,12 @@ def launch_setup(context, *args, **kwargs):
     print(f"use_sim_time                        := {use_sim_time.perform(context)}")
     print(f"vehicle_model                       := {vehicle_model.perform(context)}")
 
+    def make_launch_prefix():
+        if enable_perf.perform(context) == "True":
+            return "perf record -F 10000"
+        else:
+            return ""
+
     def make_parameters():
         parameters = [
             {"architecture_type": architecture_type},
@@ -143,6 +151,7 @@ def description():
         DeclareLaunchArgument("autoware_launch_package",             default_value=autoware_launch_package            ),
         DeclareLaunchArgument("consider_acceleration_by_road_slope", default_value=consider_acceleration_by_road_slope),
         DeclareLaunchArgument("consider_pose_by_road_slope",         default_value=consider_pose_by_road_slope        ),
+        DeclareLaunchArgument("enable_perf",                         default_value=enable_perf                        ),
         DeclareLaunchArgument("global_frame_rate",                   default_value=global_frame_rate                  ),
         DeclareLaunchArgument("global_real_time_factor",             default_value=global_real_time_factor            ),
         DeclareLaunchArgument("global_timeout",                      default_value=global_timeout                     ),
@@ -193,6 +202,7 @@ def description():
             namespace="simulation",
             output="screen",
             parameters=[{"use_sim_time": use_sim_time}]+make_parameters(),
+            prefix=make_launch_prefix(),
             on_exit=ShutdownOnce(),
         ),
         Node(