Adds PerformanceSensorMetrics proto message.

[francocipollone]

🎉 New feature

Related to gazebosim/gz-sim#557
Related to gazebosim/gz-sensors#146

Summary

Adds a message to publish performance metrics of the sensors.

/// \brief This message contains information about the performance of
/// a sensor in the world.
/// If the sensor is a camera then it will publish the frame per second (fps).
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;
}

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)
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[codecov]

Codecov Report

Merging #172 (6237f9d) into ign-msgs5 (e32a8bc) will not change coverage.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           ign-msgs5     #172   +/-   ##
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  Coverage      84.38%   84.38%           
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  Files              7        7           
  Lines            807      807           
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  Hits             681      681           
  Misses           126      126           

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[caguero]

Are we suppose to fill all the fields when publishing this message? If the answer is no, consider to use StringMsg and Double instead, as we can check if the field has been set when parsing the message.

[francocipollone]

Are we suppose to fill all the fields when publishing this message? If the answer is no, consider to use StringMsg and Double instead, as we can check if the field has been set when parsing the message.

Thanks for the suggestion. All but fps probably should always contain information. fps is the one that will be optional given that it will depend on the nature of the sensor.

I will address it, thanks!

[caguero]

Looks good to me!

[peci1]

What is the difference between fps and real_update_rate? Is it so that fps is averaged over some interval?

[peci1]

Also, another interesting metric might be how long did the Update() function take. This way, it'd be easy to determine which sensors slow down the simulation the most. It might become a bit less informative in case some rendering pipeline parallelism comes into play, but still I think it'd be nice.