installed ros2 tracing

.devcontainer/devcontainer.json

@@ -11,7 +11,16 @@
 	"runArgs": [
 		"--privileged", // for real-time access
 		"--cap-add=sys_nice",
-		"--ulimit", "rtprio=99" // for real-time access
+		"--cap-add=SYS_ADMIN",
+		"--cap-add=SYS_PTRACE",
+		"--ulimit", "rtprio=99", // for real-time access
+		// explicitly mount /sys and /dev to allow access to the host's devices
+		// and system information
+		"--mount", "type=bind,source=/sys,target=/sys",
+		"--mount", "type=bind,source=/dev,target=/dev",
+		// mount /lib/modules and /usr/lib/modules to allow access to the host's kernel modules
+		"--mount", "type=bind,source=/lib/modules,target=/lib/modules",
+		"--mount", "type=bind,source=/usr/lib/modules,target=/usr/lib/modules"
 	],
 	// Features to add to the dev container. More info: https://containers.dev/features.
 	// "features": {},
@@ -22,6 +31,9 @@
 	// Uncomment the next line to run commands after the container is created.
 	// "postCreateCommand": "cat /etc/os-release",
 
+	// Uncomment the next line to run commands after the container is created and started.
+	"postStartCommand": "sudo modprobe lttng-tracer && sudo modprobe lttng-ring-buffer-client-discard && sudo modprobe lttng-probe-sched && sudo modprobe lttng-probe-irq && sudo modprobe lttng-probe-timer && (sudo lttng-sessiond --daemonize || true)",
+
 	// Configure tool-specific properties.
 	"customizations": {
 		"vscode": {

.gitignore

@@ -70,8 +70,8 @@ AMENT_IGNORE
 
 
 ## custom stuff
-# python 3.10 venv
+# python venv
-venv310/
+venv*/
 
 # analysis output dir
 analysis/

.gitmodules

@@ -1,3 +1,9 @@
 [submodule "src/ros_edf"]
 	path = src/ros_edf
 	url = git@git.niklashalle.net:niklas/ROS-Dynamic-Executor.git
+[submodule "src/tools/ros2_tracing"]
+	path = src/tools/ros2_tracing
+	url = git@gitlab.com:ros-tracing/ros2_tracing.git
+[submodule "src/tools/tracetools_analysis"]
+	path = src/tools/tracetools_analysis
+	url = git@gitlab.com:ros-tracing/tracetools_analysis.git

Dockerfile

@@ -11,6 +11,21 @@ LABEL maintainer="Niklas Halle <niklas@niklashalle.net>"
 ENV PIP_BREAK_SYSTEM_PACKAGES=1
 ENV DEBIAN_FRONTEND=noninteractive
 
+# User and group IDs
+ARG USERNAME=dev
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Create the user
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    #
+    # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+
 # Set the default shell to bash for RUN commands
 # This ensures all RUN commands use bash instead of sh
 SHELL ["/bin/bash", "-c"]
@@ -30,10 +45,11 @@ RUN apt-get update && \
     add-apt-repository ppa:deadsnakes/ppa && \
     apt-get update && \
     apt-get install -y \
-        python3.10 \
+        python3.8 \
-        python3.10-venv \
+        python3.8-venv \
-        python3.10-dev \
+        python3.8-dev \
-        python3.10-distutils \
+        python3.8-distutils \
+        nlohmann-json3-dev \
         curl && \
     rm -rf /var/lib/apt/lists/*
 
@@ -47,14 +63,14 @@ RUN apt-get update -q && \
 # This ensures that ROS 2 commands are available in the shell
 # rosdep is a tool for installing system dependencies for ROS packages
 RUN rosdep update && \
-    grep -F "source /opt/ros/${ROS_DISTRO}/setup.bash" /root/.bashrc || echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
+    grep -F "source /opt/ros/${ROS_DISTRO}/setup.bash" /home/dev/.bashrc || echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/dev/.bashrc && \
-    grep -F "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" /root/.bashrc || echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> /root/.bashrc
+    grep -F "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" /home/dev/.bashrc || echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> /home/dev/.bashrc
 
 # Bootstrap pip manually (recommended way)
-RUN curl -sS https://bootstrap.pypa.io/get-pip.py | python3.10
+RUN curl -sS https://bootstrap.pypa.io/pip/3.8/get-pip.py | python3.8
 
-# Set Python 3.10 as default Python3
+# Set Python 3.8 as default Python3
-RUN update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.10 1
+RUN update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.8 1
 
 # Install modern nodejs (optional but good practice for JupyterLab widgets)
 RUN curl -fsSL https://deb.nodesource.com/setup_20.x | bash - && \
@@ -63,3 +79,14 @@ RUN curl -fsSL https://deb.nodesource.com/setup_20.x | bash - && \
 
 # Install JupyterLab globally
 RUN python3 -m pip install --upgrade jupyterlab
+
+# Install dependencies for ros2_tracing
+RUN apt-get update -q && \
+    apt-get install -y lttng-tools lttng-modules-dkms liblttng-ust-dev
+RUN apt-get install -y python3-babeltrace python3-lttng python3-pytest
+
+# Add user to the "tracing" group
+RUN usermod -aG tracing $USERNAME
+
+# [Optional] Set the default user. Omit if you want to keep the default as root.
+USER $USERNAME

analysis/analysis.ipynb

@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 11,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -16,7 +16,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 12,
+   "execution_count": 2,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -27,9 +27,17 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 13,
+   "execution_count": 3,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Experiment file not found:  /workspaces/ROS-Dynamic-Executor-Experiments/results/existing_system_monitor/uas_edf.json\n"
+     ]
+    }
+   ],
    "source": [
     "#experiment_folder = \"casestudy_example\"\n",
     "#experiment_name = \"cs_example_edf\"\n",
@@ -43,9 +51,22 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 14,
+   "execution_count": 4,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "ename": "FileNotFoundError",
+     "evalue": "[Errno 2] No such file or directory: '/workspaces/ROS-Dynamic-Executor-Experiments/results/existing_system_monitor/uas_edf.json'",
+     "output_type": "error",
+     "traceback": [
+      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
+      "\u001b[0;31mFileNotFoundError\u001b[0m                         Traceback (most recent call last)",
+      "Cell \u001b[0;32mIn[4], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m \u001b[38;5;28;01mwith\u001b[39;00m \u001b[38;5;28;43mopen\u001b[39;49m\u001b[43m(\u001b[49m\u001b[43mexperiment_file\u001b[49m\u001b[43m)\u001b[49m \u001b[38;5;28;01mas\u001b[39;00m f:\n\u001b[1;32m      2\u001b[0m     experiment_data_raw \u001b[38;5;241m=\u001b[39m json\u001b[38;5;241m.\u001b[39mload(f)\n",
+      "File \u001b[0;32m/workspaces/ROS-Dynamic-Executor-Experiments/venv310/lib/python3.10/site-packages/IPython/core/interactiveshell.py:324\u001b[0m, in \u001b[0;36m_modified_open\u001b[0;34m(file, *args, **kwargs)\u001b[0m\n\u001b[1;32m    317\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m file \u001b[38;5;129;01min\u001b[39;00m {\u001b[38;5;241m0\u001b[39m, \u001b[38;5;241m1\u001b[39m, \u001b[38;5;241m2\u001b[39m}:\n\u001b[1;32m    318\u001b[0m     \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mValueError\u001b[39;00m(\n\u001b[1;32m    319\u001b[0m         \u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mIPython won\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mt let you open fd=\u001b[39m\u001b[38;5;132;01m{\u001b[39;00mfile\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m by default \u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m    320\u001b[0m         \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mas it is likely to crash IPython. If you know what you are doing, \u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m    321\u001b[0m         \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124myou can use builtins\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124m open.\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m    322\u001b[0m     )\n\u001b[0;32m--> 324\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[43mio_open\u001b[49m\u001b[43m(\u001b[49m\u001b[43mfile\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43margs\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n",
+      "\u001b[0;31mFileNotFoundError\u001b[0m: [Errno 2] No such file or directory: '/workspaces/ROS-Dynamic-Executor-Experiments/results/existing_system_monitor/uas_edf.json'"
+     ]
+    }
+   ],
    "source": [
     "with open(experiment_file) as f:\n",
     "    experiment_data_raw = json.load(f)"
@@ -53,7 +74,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 15,
+   "execution_count": null,
    "metadata": {},
    "outputs": [
     {
@@ -95,7 +116,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 16,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -142,7 +163,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 17,
+   "execution_count": null,
    "metadata": {},
    "outputs": [
     {
@@ -160,7 +181,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 18,
+   "execution_count": null,
    "metadata": {},
    "outputs": [
     {
@@ -205,7 +226,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 19,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -227,7 +248,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 20,
+   "execution_count": null,
    "metadata": {},
    "outputs": [
     {

performance_logs/monitored_example/performance_report.txt

@@ -9,38 +9,38 @@ Callback Execution Report:
 
 experiment_parameters//node_0 (chain:0 end)
   Calls: 499
-  Avg time: 19848.2 µs
+  Avg time: 32168.5 µs
-  Min time: 16832 µs
+  Min time: 17109 µs
-  Max time: 40185 µs
+  Max time: 70873 µs
-  Total time: 9904264 µs
+  Total time: 16052061 µs
 
 experiment_parameters//node_2 (chain:1 end)
   Calls: 499
-  Avg time: 24434 µs
+  Avg time: 37592.9 µs
-  Min time: 20683 µs
+  Min time: 21208 µs
-  Max time: 59658 µs
+  Max time: 75984 µs
-  Total time: 12192560 µs
+  Total time: 18758862 µs
 
 experiment_parameters//parameter_events (chain:0)
   Calls: 1
-  Avg time: 185 µs
+  Avg time: 77 µs
-  Min time: 185 µs
+  Min time: 77 µs
-  Max time: 185 µs
+  Max time: 77 µs
-  Total time: 185 µs
+  Total time: 77 µs
 
 experiment_parameters/timer_100ms (chain:0 start)
   Calls: 500
-  Avg time: 11759.7 µs
+  Avg time: 17089.5 µs
-  Min time: 8683 µs
+  Min time: 8469 µs
-  Max time: 23513 µs
+  Max time: 38304 µs
-  Total time: 5879840 µs
+  Total time: 8544739 µs
 
 experiment_parameters/timer_100ms (chain:1 start)
   Calls: 500
-  Avg time: 16964.2 µs
+  Avg time: 25604.1 µs
-  Min time: 13176 µs
+  Min time: 12897 µs
-  Max time: 32020 µs
+  Max time: 55585 µs
-  Total time: 8482083 µs
+  Total time: 12802033 µs
 
 
 

setup-venv.sh

@@ -1,11 +1,11 @@
 #!/bin/bash
 
-# Creates and sets up your Python 3.10 venv
+# Creates and sets up your Python 3.8 venv
-python3.10 -m venv venv310
+python3.8 -m venv venv38 --system-site-packages --symlinks
-source venv310/bin/activate
+source venv38/bin/activate
 
 # Make sure colcon doesn't try to index the venv310 directory
-touch venv310/COLCON_IGNORE
+touch venv38/COLCON_IGNORE
 
 # Install Python packages
 pip install --upgrade pip
@@ -19,13 +19,7 @@ pip install \
     jupyterlab-widgets \
     ipykernel
 
-pip3 install --upgrade pytest colcon-common-extensions setuptools
+pip install --upgrade pytest colcon-common-extensions setuptools
-
-# Register venv310 as Jupyter kernel
-python -m ipykernel install --user --name=venv310 --display-name="Python 3.10 (venv310)"
 
 # Make sure the venv310 is activated when starting a new shell
-echo "source /workspaces/ROS-Dynamic-Executor-Experiments/venv310/bin/activate" >> /root/.bashrc
+echo "source /workspaces/ROS-Dynamic-Executor-Experiments/venv38/bin/activate" >> /root/.bashrc
-
-echo "Setup complete! Activate with: source venv310/bin/activate"
-echo "Then start JupyterLab with: jupyter lab --ip=0.0.0.0 --port=8888 --allow-root"

src/ros2trace

@@ -0,0 +1 @@
+tools/ros2_tracing/ros2trace

src/ros2trace_analysis

@@ -0,0 +1 @@
+tools/tracetools_analysis/ros2trace_analysis

src/tools/ros2_tracing

@@ -0,0 +1 @@
+Subproject commit 449a0123fd12032519ca6bea2209cc0505304771

src/tools/tracetools_analysis

@@ -0,0 +1 @@
+Subproject commit 18577974cf842b4f35bf0d22611695dcddb30f6d

src/tracetools

@@ -0,0 +1 @@
+tools/ros2_tracing/tracetools

src/tracetools_analysis

@@ -0,0 +1 @@
+tools/tracetools_analysis/tracetools_analysis

src/tracetools_launch

@@ -0,0 +1 @@
+tools/ros2_tracing/tracetools_launch

src/tracetools_read

@@ -0,0 +1 @@
+tools/ros2_tracing/tracetools_read

src/tracetools_test

@@ -0,0 +1 @@
+tools/ros2_tracing/tracetools_test

src/tracetools_trace

@@ -0,0 +1 @@
+tools/ros2_tracing/tracetools_trace