Publish performance sensor metrics.

[francocipollone]

Signed-off-by: Franco Cipollone franco.c@ekumenlabs.com

🎉 New feature

Related to gazebosim/gz-sim#557

Summary

• ignition::sensors::Sensor publishes a performance metric message (ignition::msgs::PeformanceSensorMetrics)
  for each Update() call. The message is published at <sensor_topic_name>/performance_metrics
  • This message is being added to the ignition-msgs in PR: Adds PerformanceSensorMetrics proto message. gz-msgs#172
• Publishing performance metrics can be disabled trough sdf: Adds enable_metrics flag to Sensor. sdformat#665

message PerformanceSensorMetrics
{
  /// \brief Sensor name
  string name                 = 1;

  /// \brief The update rate of the sensor in real time.
  double real_update_rate     = 2;

  /// \brief The update rate of the sensor in simulation time.
  double sim_update_rate      = 3;

  /// \brief The nominal update rate defined to the sensor.
  double nominal_update_rate  = 4;

  /// \brief If the sensor is a camera then this field should be filled
  /// with average fps in real time.
  Double fps                  = 5;
}

• ignition::sensors::Sensor provides an API to let the subclasses to publish a custom message or change the way the metrics are computed. For example, CameraSensor's PublishMetrics implementation should also fill the fps field of the message.

Test it

It can be tested using an ignition simulation:

the sensors in the .sdf must enable this behavior by doing:
<enable_metrics>true</enable_metrics>

Then we can do:

ign gazebo sensors.sdf

and then verify the messages being published:

ign topic --list

/air_pressure
/air_pressure/performance_metrics
/altimeter
/altimeter/performance_metrics
/clock
/gazebo/resource_paths
/gui/camera/pose
/gui/record_video/stats
/imu
/imu/performance_metrics
/magnetometer
/magnetometer/performance_metrics
...

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

[francocipollone]

It is ready for review @chapulina 😃 !, let me know if I should ask someone else for a review.

[chapulina]

Works for me, I just have various minor comments.

[chapulina]

Just curious, why can't it be zero?

[francocipollone]

If it is zero then this variable wasn't initialized(first iteration) yet so the calculus below is pointless.

[codecov]

Codecov Report

Merging #146 (db8a8f5) into ign-sensors3 (ca0dab3) will increase coverage by 0.02%.
The diff coverage is 78.94%.

@@               Coverage Diff                @@
##           ign-sensors3     #146      +/-   ##
================================================
+ Coverage         77.14%   77.17%   +0.02%     
================================================
  Files                23       23              
  Lines              2306     2344      +38     
================================================
+ Hits               1779     1809      +30     
- Misses              527      535       +8     

Impacted Files	Coverage Δ
src/Sensor.cc	88.97% <78.94%> (-4.29%)	⬇️

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[chapulina]

Works great! Let's bump the required libSDFormat version on CMakeLists once the 9.6.0 release is out: https://build.osrfoundation.org/job/sdformat9-debbuilder/

I made this quick PR to enable metrics on some Gazebo demos: gazebosim/gz-sim#982

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-01-10/1228/1