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Windows fixes for statistics tutorial #533

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merged 3 commits into from
Sep 26, 2024
Merged

Windows fixes for statistics tutorial #533

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4c963a2
Windows fixes for statistics tutorial
j-rivero Sep 12, 2024
cf8d745
Do not use cmake --config for single configuration generators
j-rivero Sep 13, 2024
490975b
Merge branch 'gz-transport14' into jrivero/t14_statistic_win
j-rivero Sep 26, 2024
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44 changes: 30 additions & 14 deletions tutorials/23_topic_statistics.md
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ for both publishers and subscribers. Setting `GZ_TRANSPORT_TOPIC_STATISTICS` to
Additionally, a node on the subscriber side of a pub/sub relationship must
call `EnableStats`. For example:

```
```c++
if (!node.EnableStats(topic, true))
{
std::cout << "Unable to enable stats\n";
Expand All @@ -54,7 +54,7 @@ It is possible to change the statistics output topic from `/statistics` to
one of your choosing by specifying a topic name when enabling topic
statistics. For example:

```
```c++
if (!node.EnableStats(topic, true, "/my_stats"))
{
std::cout << "Unable to enable stats\n";
Expand All @@ -64,7 +64,7 @@ if (!node.EnableStats(topic, true, "/my_stats"))
You can also change the statistics publication rate from 1Hz by specifying
the new Hz rate after the statistic's topic name:

```
```c++
if (!node.EnableStats(topic, true, "/my_stats", 100))
{
std::cout << "Unable to enable stats\n";
Expand All @@ -73,23 +73,39 @@ if (!node.EnableStats(topic, true, "/my_stats", 100))

### Example

For running the example, build the binaries in the example directory:

```
git clone https://github.com/gazebosim/gz-transport -b gz-transport14
cd gz-transport/example
cmake -S . -B build
# For UNIX
cmake --build build --parallel
# For Windows
cmake --build build --config release --parallel
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```

#### Executing
> **NOTE**
> It is essential to have a valid value of `GZ_PARTITION` environment variable
> and to have it set to the same value in all open terminals. As `GZ_PARTITION`
> is based on hostname and username, especially Windows and Mac users might
> have problems due to spaces in their username, which are not a valid character
> in `GZ_PARTITION`. gz-transport prints error `Invalid partition name` in such
> case. To resolve that, set `GZ_PARTITION` explicitly to a valid value:
> ```bash
> # Linux and Mac
> export GZ_PARTITION=test
> # Windows
> set GZ_PARTITION=test
> ```
> case. To resolve that, set `GZ_PARTITION` explicitly to a valid value.

If you have the Gazebo Transport sources with the example programs built,
then you can test topic statistics by following these steps.
then you can test topic statistics by following these steps depending on the
platform:

##### Linux or Mac

1. Terminal 1: `GZ_PARTITION=test GZ_TRANSPORT_TOPIC_STATISTICS=1 ./example/build/publisher`
1. Terminal 2: `GZ_PARTITION=test GZ_TRANSPORT_TOPIC_STATISTICS=1 ./example/build/subscriber_stats`
1. Terminal 3: `GZ_PARTITION=test GZ_TRANSPORT_TOPIC_STATISTICS=1 gz topic -et /statistics`

##### Windows

1. Terminal 1: `GZ_TRANSPORT_TOPIC_STATISTICS=1 ./example/build/publisher`
1. Terminal 2: `GZ_TRANSPORT_TOPIC_STATISTICS=1 ./example/build/subscriber_stats`
1. Terminal 3: `GZ_TRANSPORT_TOPIC_STATISTICS=1 gz topic -et /statistics`
1. Terminal 1: `set "GZ_PARTITION=test" && set "GZ_TRANSPORT_TOPIC_STATISTICS=1" && example\build\release\publisher.exe`
1. Terminal 2: `set "GZ_PARTITION=test" && set "GZ_TRANSPORT_TOPIC_STATISTICS=1" && example\build\subscriber_stats.exe`
1. Terminal 3: `set "GZ_PARTITION=test" && set "GZ_TRANSPORT_TOPIC_STATISTICS=1" && gz topic -et /statistics`