agalbachicar
commented
3 years ago A bit of data from CI:
- ros-tooling installation: ~1.5min
- rosdep install: ~1min
- Previously, installing drake's tarball took ~1min
- Building the workspace without drake took: ~3min (a maliput_malidrive workspace)
- Building maliput_malidrive tests takes : ~3min
- Running maliput_malidrive tests takes: ~7-8min
- A bunch of other steps that take at most: ~0.5min
Before using maliput_drake #9 and #10, we save the a minute by installing drake's tarball (download + installation) but the workspace's compile time increased to ~12min (+9min). After #9 and #10, it takes ~10 minutes.
To provide integration support via antiderivative function and inverse value problem we created this package out of drake. It had increased +6 min the CI time because now we need to build and install this package prior its execution. It'd be wise to reduce to a minimum the necessary sources to improve on that front and consider removing the template instantiations for many types as well (downstream packages only care about doubles).
Victory condition: reduce extra CI time in maliput_malidrive to +2 min tops instead of +6 min. Previous average compile time with gcc was between 19 and 20 minutes (e.g. https://github.com/ToyotaResearchInstitute/maliput_malidrive/actions/runs/1317728472 ).