just always clear cmake cache + print selected build settings

build_run_copy.sh

@@ -37,11 +37,14 @@ TRACE_NAME="${SCHEDULER_TYPE}_${THREADING_TYPE}_${FUSION_TYPE}_${TRACE_LENGTH}"
 
 cd "$LOCAL_PROJECT_DIR"
 
-colcon build --packages-select full_topology --cmake-args "${CMAKE_ARGS[@]}"
+echo colcon build --packages-select full_topology --cmake-clean-cache --cmake-clean-first --cmake-args "${CMAKE_ARGS[@]}"
+colcon build --packages-select full_topology --cmake-clean-cache --cmake-clean-first --cmake-args "${CMAKE_ARGS[@]}"
 
 source install/setup.bash
 
-TRACE_ID=$(taskset -c 2,3 ros2 launch full_topology trace_full_topology.launch.py "length:=${TRACE_LENGTH}" | \
+OUTPUT=$(taskset -c 2,3 ros2 launch full_topology trace_full_topology.launch.py "length:=${TRACE_LENGTH}")
+#echo ${OUTPUT}
+TRACE_ID=$(echo ${OUTPUT} | \
   grep -oP '(?<=Writing tracing session to: /home/niklas/ROS-Dynamic-Executor-Experiments/analysis/tracing/)[^\s]+')
 
 if [[ -z "$TRACE_ID" ]]; then

src/full_topology/CMakeLists.txt

@@ -26,22 +26,27 @@ option(MULTI_THREADED "Use multi-threading" OFF)
 option(USE_TIMER_IN_FUSION_NODES "Use timers in fusion nodes" OFF)
 
 if(ROS_DEFAULT_EXECUTOR)
+  message(NOTICE "ROS default executor")
   add_compile_definitions(ROS_DEFAULT_EXECUTOR)
 endif()
 
 if(EDF_PRIORITY_EXECUTOR)
+  message(NOTICE "EDF executor")
   add_compile_definitions(EDF_PRIORITY_EXECUTOR)
 endif()
 
 if(SEMANTIC_EXECUTOR)
+  message(NOTICE "semantic executor")
   add_compile_definitions(SEMANTIC_EXECUTOR)
 endif()
 
 if(MULTI_THREADED)
+  message(NOTICE "multi threaded")
   add_compile_definitions(MULTI_THREADED)
 endif()
 
 if(USE_TIMER_IN_FUSION_NODES)
+  message(NOTICE "with timer")
   add_compile_definitions(USE_TIMER_IN_FUSION_NODES)
 endif()
 

src/full_topology/src/full_topology.cpp

@@ -98,8 +98,10 @@ int main(int argc, char **argv)
   rclcpp::ExecutorOptions options;
   options.memory_strategy = strategy;
   #ifdef MULTI_THREADED
+  std::cout << "multi threaded EDF" << std::endl;
   auto executor = priority_executor::MultithreadTimedExecutor(options);
   #else
+  std::cout << "single threaded EDF" << std::endl;
   auto executor = priority_executor::TimedExecutor(options);
   #endif
 
@@ -108,9 +110,11 @@ int main(int argc, char **argv)
 #else // default: ROS
   #ifdef MULTI_THREADED
   // Create a multi-threaded executor to handle all nodes
+  std::cout << "multi threaded ros default" << std::endl;
   rclcpp::executors::MultiThreadedExecutor executor;
   #else
   // Create a single-threaded executor to handle all nodes
+  std::cout << "single threaded ros default" << std::endl;
   rclcpp::executors::SingleThreadedExecutor executor;
   #endif
 #endif

src/full_topology/src/nodes.hpp

@@ -101,6 +101,7 @@ public:                                                                  \
           topic, 10,                                                     \
           [this, name](std_msgs::msg::String::SharedPtr msg)             \
           {                                                              \
+            (void) msg;                                                  \
           });                                                            \
       subscriptions_.emplace_back(sub);                                  \
     }                                                                    \