Add support for KDL::ChainIkSolverPos_NR_JL, which takes joint limits… #596
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| name: Benchmarking | |
| on: | |
| push: | |
| branches: | |
| - master | |
| # allow manually starting this workflow | |
| workflow_dispatch: | |
| jobs: | |
| benchmark: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - name: Prepare ccache timestamp | |
| id: ccache_cache_timestamp | |
| shell: cmake -P {0} | |
| run: | | |
| string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC) | |
| message("::set-output name=timestamp::${current_date}") | |
| - name: ccache cache files | |
| uses: actions/[email protected] | |
| with: | |
| path: benchmark/.ccache | |
| key: benchmark-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }} | |
| restore-keys: | | |
| benchmark-ccache- | |
| - uses: 'tesseract-robotics/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea' | |
| env: | |
| DOCKER_IMAGE: ubuntu:20.04 | |
| ROS_DISTRO: false | |
| ADDITIONAL_DEBS: 'curl lsb-release liboctomap-dev' | |
| AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh' | |
| UPSTREAM_WORKSPACE: 'dependencies.repos' | |
| ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin" | |
| CCACHE_DIR: "${{ github.workspace }}/benchmark/.ccache" | |
| UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release" | |
| TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=OFF -DTESSERACT_ENABLE_BENCHMARKING=ON -DTESSERACT_ENABLE_RUN_BENCHMARKING=ON -DBENCHMARK_ARGS=CI_ONLY" | |
| DOCKER_RUN_OPTS: '-v ${{ github.workspace }}/benchmarks:/root/benchmarks' | |
| AFTER_SCRIPT: '$target_ws/src/tesseract/.run_combine_benchmark_results' | |
| - name: Store Bullet Discrete, FCL Discrete and Environment benchmark result | |
| uses: benchmark-action/github-action-benchmark@v1 | |
| with: | |
| name: C++ Benchmark | |
| tool: 'googlecpp' | |
| output-file-path: ${{ github.workspace }}/benchmarks/tesseract-benchmark_result.json | |
| benchmark-data-dir-path: tesseract/dev/bench | |
| gh-repository: github.com/tesseract-robotics/tesseract_docs | |
| github-token: ${{ secrets.GITHUB_TOKEN }} | |
| auto-push: false | |
| # Show alert with commit comment on detecting possible performance regression | |
| alert-threshold: '200%' | |
| comment-on-alert: true | |
| fail-on-alert: false | |
| alert-comment-cc-users: '@Levi-Armstrong' | |
| max-items-in-chart: 20 | |
| - name: Push benchmark result | |
| uses: cpina/[email protected] | |
| env: | |
| SSH_DEPLOY_KEY: ${{ secrets.DOCS_DEPLOY_KEY }} | |
| with: | |
| source-directory: benchmark-data-repository/tesseract/dev/bench | |
| destination-github-username: tesseract-robotics | |
| destination-repository-name: tesseract_docs | |
| target-branch: gh-pages | |
| target-directory: tesseract/dev/bench |