Added missing files and a simple getting started manual for the demo

using the infrastructure proposed in the REP-2017 below.

ros-infrastructure/rep#385

The demo is to explain how to use the infrastructure in the process
that has multiple single-threaded executors as a reply to the question below.

ros-infrastructure/rep#385 (comment)

The YAML files for the existing executors are to demonstrate that
the existing executors can be enhanced with our proposed infrastructure,
supporting our mention below.

ros-infrastructure/rep#385 (comment)

Signed-off-by: Shoji Morita <[email protected]>

autoware_reference_system/CMakeLists.txt

@@ -49,6 +49,10 @@ if(${FRAMEWORK} STREQUAL ros)
   add_benchmark_executable(autoware_default_prioritized
     src/ros2/executor/autoware_default_prioritized.cpp)
 
+  # Prioritized Executor using REP-2017's feature
+  add_benchmark_executable(autoware_default_prioritized_using_rep2017
+    src/ros2/executor/autoware_default_prioritized_using_rep2017.cpp)
+
   # API `add_callback_group` not available in Foxy
   if(NOT $ENV{ROS_DISTRO} MATCHES "foxy")
     # Multiple executors on callback-group-level with suitable prioritization of critical path.
@@ -150,5 +154,5 @@ if(${BUILD_TESTING})
 endif()
 
 ament_auto_package(
-  INSTALL_TO_SHARE test scripts
+  INSTALL_TO_SHARE test scripts cfg
 )

autoware_reference_system/cfg/thread_attr_for_existing_executors.yaml

@@ -1,8 +1,8 @@
-- priority: 10 
+- priority: 10
   name: RCLCPP_EXECUTOR_SINGLE_THREADED
   core_affinity: []
   scheduling_policy: RR
-- priority: 10 
+- priority: 10
   name: RCLCPP_EXECUTOR_MULTI_THREADED
   core_affinity: []
   scheduling_policy: RR

autoware_reference_system/cfg/thread_attr_for_prioritized.yaml

@@ -1,4 +1,4 @@
-- priority: 1 
+- priority: 1
   name: RCLCPP_EXECUTOR_HOTPATH
   core_affinity: [1,2,3]
   scheduling_policy: RR

misc/getting_started_thread_attribute_configuration_extention_rep2017.md

@@ -0,0 +1,107 @@
+# Getting started to use the REP-2017's infrastructure.
+This memo explains how to use the REP-2017's infrastructure proposed in the pull-request below.  
+https://github.com/ros-infrastructure/rep/pull/385  
+
+Throughout the procedures below, you can prepare the environment where the ROS 2 and benchmark application use the thread attribute configuration feature.  
+
+## [Host PC] Create an SD card for Raspberry Pi 4  
+````bash
+$ wget https://github.com/ros-realtime/ros-realtime-rpi4-image/releases/download/22.04.1_v5.15.39-rt42-raspi_ros2_humble/ubuntu-22.04.1-rt-ros2-arm64+raspi.img.xz
+#
+$ sudo rpi-imager --cli ubuntu-22.04.1-rt-ros2-arm64+raspi.img.xz [SD card's device node, e.g. /dev/sdc] 
+````
+After booting with the SD card above, you have to configure the Raspberry Pi 4 to connect to the internet.
+
+## Prepare the build/execution environment for ROS 2 and sample benchmark.
+````bash
+$ sudo apt purge -y needrestart
+$ sudo apt update && sudo apt install -y locales
+$ sudo locale-gen en_US en_US.UTF-8
+$ sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+$ export LANG=en_US.UTF-8
+$ sudo apt update && sudo apt install -y software-properties-common
+$ sudo add-apt-repository universe
+$ sudo apt update && sudo apt install -y curl
+$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+$ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+$ sudo apt update && sudo apt install -y \
+  python3-flake8-docstrings \
+  python3-pip \
+  python3-pytest-cov \
+  ros-dev-tools
+$ sudo apt update && sudo apt install -y \
+  python3-flake8-blind-except \
+  python3-flake8-builtins \
+  python3-flake8-class-newline \
+  python3-flake8-comprehensions \
+  python3-flake8-deprecated \
+  python3-flake8-import-order \
+  python3-flake8-quotes \
+  python3-pytest-repeat \
+  python3-pytest-rerunfailures
+$ sudo apt update && sudo apt install -y libacl1-dev
+## needed to execute reference system's benchmark below
+## https://github.com/ros-realtime/reference-system
+$ sudo pip install bokeh==2.4.3
+$ sudo pip install pandas
+$ sudo pip install psrecord
+## Disable preinstalled ROS 2 humble.
+$ sudo rm /etc/profile.d/99-source-ros.sh
+$ sudo reboot
+````
+## Build ROS 2 Rolling, adopting the patches related to the REP-2017.
+````bash
+$ mkdir -p ros2_rolling/src
+$ cd ros2_rolling
+$ vcs import -w 1 src < ~/rolling-with-thread-attribute-configuration-extention-rep2017.repos
+# Copy the repos file above from the repository below.
+# https://github.com/esol-community/reference-system/tree/rep2017_demo/misc
+$ touch src/gazebo-release/COLCON_IGNORE
+$ touch src/ros2/rviz/COLCON_IGNORE
+$ sudo rosdep init
+$ rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
+$ colcon build --symlink-install --executor sequential
+# It takes at least 10 hours to self-build on the Raspberry Pi 4.
+````
+
+## Build reference-system benchmark modified to use the REP-2017 infrastructure.
+````bash
+$ mkdir -p ~/ros2_ws/src
+$ cd ~/ros2_ws/src
+$ git clone -b rep2017_demo https://github.com/esol-community/reference-system.git
+$ cd ~/ros2_ws
+$ source  ~/ros2_rolling/install/setup.bash
+$ colcon build --symlink-install --executor sequential
+````
+
+## Execute the benchmark(prioritized).
+To get the result without thread attribute settings, execute the benchmark 
+without the dedicated environment variable (ROS_THREAD_ATTRS_FILE).
+````bash
+$ export ROS_THREAD_ATTRS_FILE= 
+$ python3 $(ros2 pkg prefix --share autoware_reference_system)/scripts/benchmark.py 120 autoware_default_prioritized_using_rep2017
+````
+To get the result with the thread attribute settings, execute the benchmark after setting the environment variable to point to the YAML configuration file.
+````bash
+$ export ROS_THREAD_ATTRS_FILE=~/ros2_ws/install/autoware_reference_system/share/autoware_reference_system/cfg/thread_attr_for_prioritized.yaml
+$ python3 $(ros2 pkg prefix --share autoware_reference_system)/scripts/benchmark.py 120 autoware_default_prioritized_using_rep2017
+````
+
+## Execute the benchmark(singlethreaded/multithreaded).
+To get the result without thread attribute settings, execute the benchmark 
+without the dedicated environment variable (ROS_THREAD_ATTRS_FILE).
+````bash
+$ export ROS_THREAD_ATTRS_FILE=
+$ python3 $(ros2 pkg prefix --share autoware_reference_system)/scripts/benchmark.py 120 autoware_default_singlethreaded
+or
+$ python3 $(ros2 pkg prefix --share autoware_reference_system)/scripts/benchmark.py 120 autoware_default_multithreaded
+
+````
+To get the result with the thread attribute settings, execute the benchmark after setting the environment variable to point to the YAML configuration file.
+````bash
+$ export ROS_THREAD_ATTRS_FILE=~/ros2_ws/install/autoware_reference_system/share/autoware_reference_system/cfg/thread_attr_for_existing_executors.yaml
+$ python3 $(ros2 pkg prefix --share autoware_reference_system)/scripts/benchmark.py 120 autoware_default_singlethreaded
+or
+$ python3 $(ros2 pkg prefix --share autoware_reference_system)/scripts/benchmark.py 120 autoware_default_multithreaded
+````
+