[Gazebo 9] Backport Added ignition common profiler #2783
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* Added profiler to OdePhysics, sensors and some plugins Signed-off-by: ahcorde <[email protected]> * Added profiler to Physic engines: Bullet, DART and Simbody Signed-off-by: ahcorde <[email protected]> * Added profiler to plugins Signed-off-by: ahcorde <[email protected]> * Added more models to profiler.world Signed-off-by: ahcorde <[email protected]> * Add missing ; Signed-off-by: ahcorde <[email protected]> * Added option ENABLE_PROFILER to cmake Signed-off-by: ahcorde <[email protected]> * Used the same convention in all profiler calls Signed-off-by: ahcorde <[email protected]> * Added profiler to Event.hh Signed-off-by: ahcorde <[email protected]> * Fixed gazebo_common link against ignition_common Signed-off-by: ahcorde <[email protected]> * Added condition to use -fvisibility=hidden when profiler is disabled Signed-off-by: ahcorde <[email protected]> * make linters happy Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
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We should "merge" this PR if we want to keep the history with the Gazebo 11 branch instead of "squash and merge". |
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jenkins build caught a cmake error and I was able to reproduce it locally. If |
Signed-off-by: ahcorde <[email protected]>
…ix windows build Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
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I have added this code in gazebo utils
It looks like you created a new library, gazebo_profiler, instead of adding it to gazebo_utils. Is there a reason for that? Creating a new library comes with extra overhead.
The examples are failing to build, see the results for the EXAMPLE_examples_build test:
375: In file included from /usr/include/gazebo-9/gazebo/common/common.hh:18:0,
375: from /usr/include/gazebo-9/gazebo/gazebo_client.hh:23,
375: from /var/lib/jenkins/workspace/gazebo-ci-pr_any-ubuntu_auto-amd64-gpu-none/gazebo/examples/stand_alone/transporter/transporter.cc:18:
375: /usr/include/gazebo-9/gazebo/common/Event.hh:32:39: fatal error: gazebo/profiler/Profiler.hh: No such file or directory
We need to make sure that it's possible to compile against Gazebo even if the profiler is not enabled.
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| gz_install_library(gazebo_profiler) | ||
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| gz_install_includes("profiler" Profiler.hh) |
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Can we not install this header? If we do, we'll need to go through a tick-tock deprecation cycle. I think for Gazebo <= 9 we can keep the profiler internal, and for Gazebo 11 + we expose the ign-common profiler as we're doing for gazebo_ros_pkgs.
| @@ -247,6 +254,7 @@ target_compile_definitions(gazebo_common | |||
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| target_link_libraries(gazebo_common | |||
| ${IGNITION-MATH_LIBRARIES} | |||
| ${IGNITION-COMMON_LIBRARIES} | |||
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I think this can be removed.
| */ | ||
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| #ifndef IGNITION_COMMON_PROFILER_HH_ | ||
| #define IGNITION_COMMON_PROFILER_HH_ |
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| #define IGNITION_COMMON_PROFILER_HH_ | |
| #define GAZEBO_COMMON_PROFILER_HH_ |
There are other instances too
| } | ||
| } | ||
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| #ifndef IGN_PROFILER_ENABLE |
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Can we change all of these from IGN to GZ? Just to be safe in case the 2 of them ever get mixed in the same project.
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| <?xml version="1.0" ?> | |||
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Could you comment on what this world is supposed to be demonstrating?
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This was superceded by #2813, which includes this PR. |
This PR is a backport of this other PR #2776
Gazebo 9 uses
ign-common1, in this version of ignition common the profiler is not implemented yet. To backport this functionality intoign-commonrequires to also backportcomponentsintoign-cmake0. I have talked with @chapulina and it makes sense to include the profiler code inside the Gazebo code. In particular I have added this code ingazebo utilswhere the other profiler ( Diagnostic) it's also located.