update script

Signed-off-by: quic-zhaoyuan <164289792+quic-zhaoyuan@users.noreply.github.com>

Author: quic-zhaoyuan

scripts/qrb_ros_resize_benchmark_intra_porcess.py

@@ -0,0 +1,117 @@
+"""
+Performance test for qrb_ros_transport image
+
+Required:
+- Packages:
+    - qrb_ros_transport
+- Datasets:
+    - /data/ros2_ws/qrb_ros_benchmark_data
+"""
+
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+from ros2_benchmark import ImageResolution
+from ros2_benchmark import ROS2BenchmarkConfig, ROS2BenchmarkTest
+
+IMAGE_RESOLUTION = ImageResolution.HD
+ROSBAG_PATH = 'resize_data'
+
+def launch_setup(container_prefix, container_sigterm_timeout):
+    """Generate launch description for benchmarking XXX."""
+
+    data_loader_node = ComposableNode(
+        name='DataLoaderNode',
+        namespace=TestResizeNode.generate_namespace(),
+        package='ros2_benchmark',
+        plugin='ros2_benchmark::DataLoaderNode',
+        remappings=[('image_raw', '/data_loader_image')]
+    )
+
+    playback_node = ComposableNode(
+        name='QrbPlaybackNode',
+        namespace=TestResizeNode.generate_namespace(),
+        package='qrb_ros_benchmark',
+        plugin='qrb_ros::benchmark::QrbPlaybackNode',
+        parameters=[{
+            'data_formats': [
+                'qrb_ros/transport/type/Image'
+            ],
+        }],
+        remappings=[
+            ('buffer/input0', '/data_loader_image'),
+            ('input0', '/playback_image')
+        ]
+    )
+
+    resize_node = ComposableNode(
+        name='resize_1',
+        namespace=TestResizeNode.generate_namespace(),
+        package='qrb_ros_image_resize',
+        plugin='qrb_ros::resize::ResizeNode',
+        parameters=[{
+            'calculate_enable':True,
+            'use_scale': False,
+            'height': 400,
+            'width': 400,
+            #'use_scale': True,
+            #'height_scale': 0.25,
+            #'width_scale': 0.25,
+        }],
+        remappings=[
+            ('image_raw', '/playback_image'),
+            ('image_resize', '/image_resize')
+        ]
+    )
+
+    monitor_node = ComposableNode(
+        name='QrbMonitorNode',
+        namespace=TestResizeNode.generate_namespace(),
+        package='qrb_ros_benchmark',
+        plugin='qrb_ros::benchmark::QrbMonitorNode',
+        parameters=[{
+            'monitor_data_format': 'qrb_ros/transport/type/Image',
+        }],
+        remappings=[
+            ('output', '/image_resize')
+        ]
+    )
+
+    composable_node_container = ComposableNodeContainer(
+        name='container',
+        namespace=TestResizeNode.generate_namespace(),
+        package='rclcpp_components',
+        executable='component_container_mt',
+        prefix=container_prefix,
+        sigterm_timeout=container_sigterm_timeout,
+        composable_node_descriptions=[
+            data_loader_node,
+            playback_node,
+            resize_node,
+            monitor_node,
+        ],
+        output='screen'
+    )
+
+    return [composable_node_container]
+
+def generate_test_description():
+    return TestResizeNode.generate_test_description_with_nsys(launch_setup)
+
+class TestResizeNode(ROS2BenchmarkTest):
+    """Performance test for XXX - qrb_ros/transport/type/Image."""
+
+    # Custom configurations
+    config = ROS2BenchmarkConfig(
+        benchmark_name='qrb_ros_transport image test Node Benchmark',
+        assets_root='/data/ros2_ws/',
+        input_data_path=ROSBAG_PATH,
+        # Upper and lower bounds of peak throughput search window
+        publisher_upper_frequency=500.0,
+        publisher_lower_frequency=10.0,
+        # The number of frames to be buffered
+        playback_message_buffer_size=20,
+    )
+
+    def test_benchmark(self):
+        self.run_benchmark()