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measure time static vs. dynamic

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This commit is contained in:
Dirk Thomas 2014-08-04 12:09:47 -07:00
parent 97322affd2
commit 277d676aa2
4 changed files with 54 additions and 23 deletions
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26
userland/src/main.cpp
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@ -1,3 +1,6 @@
#include <iostream>
#include <sys/time.h>
#include "rclcpp/Node.h"
#include "rclcpp/Publisher.h"
#include "std_msgs/Int32.h"
@ -8,9 +11,24 @@ main(int argc, char** argv)
rclcpp::Node* n = create_node();
rclcpp::Publisher<std_msgs::Int32>* p = n->create_publisher<std_msgs::Int32>("topic_name");
std_msgs::Int32 ros_msg;
ros_msg.data = 23;
p->publish(ros_msg);
ros_msg.data = 42;
p->publish(ros_msg);
int number_of_msgs = 1000000;
timespec start;
clock_gettime(CLOCK_REALTIME, &start);
for (int i = 1; i < number_of_msgs; ++i) {
ros_msg.data = i;
p->publish(ros_msg);
if (i % 100000 == 0) {
std::cout << "published ros msg #" << i << std::endl;
}
}
timespec end;
clock_gettime(CLOCK_REALTIME, &end);
std::cout << (end.tv_sec - start.tv_sec) << "." << (end.tv_nsec - start.tv_nsec) << std::endl;
return 0;
}