pinocchio ROS build infos

README.md

time pinocchio build

on ros humble & jazzy, with gcc/clang & bfd/lld/mold

for dist in humble jazzy
do
    docker build --build-arg ROS=$dist -t timepin:$dist .
    docker run --rm -it timepin:$dist > $dist
done
./parse.py | tee results

Dockerfile

ARG ROS_DISTRO=humble
FROM ros:$ROS_DISTRO
ARG ROS_DISTRO=humble

WORKDIR /src
ADD https://github.com/stack-of-tasks/pinocchio/releases/download/v3.4.0/pinocchio-3.4.0.tar.gz .
RUN tar xf "pinocchio-3.4.0.tar.gz" --strip-components=1

SHELL ["/bin/bash", "-eux", "-c"]

RUN --mount=type=cache,sharing=locked,target=/var/cache/apt \
    --mount=type=cache,sharing=locked,target=/var/lib/apt \
    --mount=type=cache,sharing=locked,target=/root/.cache \
    apt-get update -y && DEBIAN_FRONTEND=noninteractive apt-get install -qqy --no-install-recommends \
    bc \
    clang \
    libboost-all-dev \
    libeigen3-dev \
    liburdfdom-dev \
    lld \
    mold \
    python-is-python3 \
    python3-numpy \
    python3-pip \
    python3-venv \
    ros-$ROS_DISTRO-hpp-fcl \
    ros-$ROS_DISTRO-eigenpy \
    time \
 && python -m venv --system-site-packages --upgrade-deps /venv \
 && source /venv/bin/activate \
 && python -m pip install cmake

ENV CMAKE_PREFIX_PATH=/opt/ros/$ROS_DISTRO
ENV LD_LIBRARY_PATH=/opt/ros/$ROS_DISTRO/lib:/opt/ros/$ROS_DISTRO/lib/x86_64-linux-gnu
ENV ROS_PYTHON_VERSION=3 ROS_VERSION=2

RUN find /opt/ros/$ROS_DISTRO -name '*-packages' > $(find /usr/local/lib -name '*-packages')/ros.pth

# Wait, WHAT ?
RUN sed -i 's/hpp-fcl 2.1.2 REQUIRED "hpp-fcl >= 2.1.2"/hpp-fcl/' "CMakeLists.txt"

RUN source /venv/bin/activate \
 && for compiler in gcc clang; do \
        for linker in BFD LLD MOLD; do \
            for testing in ON OFF; do \
                [[ "${compiler}" == "gcc" && "${linker}" == "MOLD" && "${ROS_DISTRO}" == "humble" ]] && continue; \
                LOG="${compiler}-${linker}-${testing}.log"; \
                cmake -B build \
                    -DBUILD_TESTING=${testing} \
                    -DBUILD_WITH_COLLISION_SUPPORT=ON  \
                    -DCMAKE_BUILD_TYPE=Release \
                    -DCMAKE_C_COMPILER="${compiler}" \
                    -DCMAKE_CXX_COMPILER="${compiler/cc}++" \
                    -DCMAKE_INSTALL_LIBDIR=lib \
                    -DCMAKE_LINKER_TYPE="${linker}" \
                    -DPYTHON_DEB_LAYOUT=ON \
                    -Wno-dev; \
                /usr/bin/time -v cmake --build build 2>> $LOG; \
                echo -ne "\ttotal-size: " >> $LOG; \
                find build -name \*.so -exec sh -c 'stat -c %s $(realpath {})' \;| xargs | tr ' ' + | bc >> $LOG; \
                cmake --build build -t install; \
                echo -ne "\tpinocchio: " >> $LOG; \
                (python -c "import pinocchio; print('ok')" 2>&1 || true) >> $LOG; \
                cmake --build build -t uninstall; \
                rm -rf build; \
            done; \
        done; \
    done

CMD tail -n 30 *.log

parse.py

#!/usr/bin/env python

import pandas as pd

TIME = "	Elapsed (wall clock) time (h:mm:ss or m:ss): "
MRSS = "	Maximum resident set size (kbytes): "
SIZE = "	total-size: "
PINO = "	pinocchio: "

compiler = ""
linker = ""
testing = ""
time = 0

dists = []
compilers = []
linkers = []
testings = []
times = []
mrsss = []
sizes = []
pinos = []

for dist in ["humble", "jazzy"]:
    with open(dist) as f:
        for line in f.readlines():
            match line:
                case line if "==>" in line:
                    compiler, linker, testing = (
                        line.split()[1].removesuffix(".log").split("-")
                    )
                case line if line.startswith(TIME):
                    m, s = line.removeprefix(TIME).strip().split(":")
                    time = int(m) * 60 + float(s)
                case line if line.startswith(MRSS):
                    mrss = int(line.removeprefix(MRSS).strip())
                case line if line.startswith(SIZE):
                    size = int(line.removeprefix(SIZE).strip())
                case line if line.startswith(PINO):
                    pino = line.removeprefix(PINO).strip()

                    dists.append(dist)
                    compilers.append(compiler)
                    linkers.append(linker)
                    testings.append(testing)
                    times.append(time)
                    mrsss.append(mrss)
                    sizes.append(size)
                    pinos.append(pino)

arrays = [dists, compilers, linkers, testings]
tuples = list(zip(*arrays))
index = pd.MultiIndex.from_tuples(
    tuples, names=["dist", "compiler", "linker", "testing"]
)
df = pd.DataFrame(
    {"time": times, "mrss": mrsss, "size": sizes, "import": pinos}, index=index
)
print(df)