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{
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [],
"source": [
"import os\n",
"import sys\n",
"import babeltrace\n",
"import numpy as np\n",
"import pandas as pd\n",
"from matplotlib import pyplot as plt\n",
"\n",
"from IPython.display import display, clear_output\n",
"\n",
"sys.path.append(\"/home/adlink/ros2-workspace/install/tracetools_read/lib/python3.8/site-packages/\")\n",
"sys.path.append(\"/home/adlink/ros2-workspace/src/tracetools_analysis/tracetools_analysis/\")\n",
"from tracetools_read.trace import *\n",
"from tracetools_analysis.loading import load_file\n",
"from tracetools_analysis.processor.ros2 import Ros2Handler\n",
"from tracetools_analysis.utils.ros2 import Ros2DataModelUtil"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"found converted file: /home/adlink/.ros/tracing/autoware-trace/converted\n"
]
}
],
"source": [
"path = os.path.expanduser(\"~/.ros/tracing/autoware-trace/\")\n",
"file = load_file(path)"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
" [100%] [Ros2Handler]\n"
]
}
],
"source": [
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"handler = Ros2Handler.process(file)\n",
"util = Ros2DataModelUtil(handler)\n"
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]
},
{
"cell_type": "code",
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"execution_count": 10,
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"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"====================ROS 2 DATA MODEL===================\n",
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"██ Contexts: ██\n",
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" timestamp pid version\n",
"context_handle \n",
"578889920 1652795531158728529 9807 2.3.0\n",
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"██ Nodes: ██\n",
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" timestamp tid rmw_handle name namespace\n",
"node_handle \n",
"578605264 1652795531205345494 9807 578658512 launch_ros_9807 /\n",
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"██ Publishers (rmw): ██\n",
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"Empty DataFrame\n",
"Columns: []\n",
"Index: []\n",
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"██ Publishers (rcl): ██\n",
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" timestamp node_handle rmw_handle topic_name depth\n",
"publisher_handle \n",
"281474154018016 1652795531205338094 578605264 580193376 /rosout 1000\n",
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"██ Subscriptions (rmw): ██\n",
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"Empty DataFrame\n",
"Columns: []\n",
"Index: []\n",
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"██ Subscriptions (rcl): ██\n",
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" timestamp node_handle rmw_handle topic_name depth\n",
"subscription_handle \n",
"187651141000448 1652795532311067501 187651140946384 187651141210960 /parameter_events 1000\n",
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"██ Subscription objects: ██\n",
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" timestamp subscription_handle\n",
"subscription \n",
"187651141131344 1652795532311098621 187651141000448\n",
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"██ Services: ██\n",
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" timestamp node_handle rmw_handle service_name\n",
"service_handle \n",
"1652795531227060891 1652795531227060891 578605264 578509024 /launch_ros_9807/describe_parameters\n",
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"██ Clients: ██\n",
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" timestamp node_handle rmw_handle service_name\n",
"client_handle \n",
"281473303560864 1652795531234252437 578605264 580853584 /system/system_monitor/system_monitor/system_m...\n",
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"██ Timers: ██\n",
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" timestamp period tid\n",
"timer_handle \n",
"281472359468464 1652795531230470704 1000000000 9832\n",
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"██ Timer-node links: ██\n",
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" timestamp node_handle\n",
"timer_handle \n",
"187650864529200 1652795532337464355 187650863948976\n",
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"██ Callback objects: ██\n",
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" timestamp callback_object\n",
"reference \n",
"187651141131344 1652795532311101741 187651141131568\n",
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"██ Callback symbols: ██\n",
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" timestamp symbol\n",
"callback_object \n",
"187651141131568 1652795532311126901 std::_Bind<void (rclcpp::TimeSource::*(rclcpp:...\n",
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"██ Callback instances: ██\n",
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" callback_object timestamp duration intra_process\n",
"0 187650864342544 2022-05-17 13:52:12.337689915 00:00:00.000010 False\n",
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"██ Publish instances (rclcpp): ██\n",
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" timestamp message\n",
"0 1652795532321318177 281474880694112\n",
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"██ Publish instances (rcl): ██\n",
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" publisher_handle timestamp message\n",
"0 580257728 1652795531226289729 580728240\n",
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"██ Publish instances (rmw): ██\n",
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"Empty DataFrame\n",
"Columns: []\n",
"Index: []\n",
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"██ Take instances (rmw): ██\n",
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"Empty DataFrame\n",
"Columns: []\n",
"Index: []\n",
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"██ Take instances (rcl): ██\n",
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"Empty DataFrame\n",
"Columns: []\n",
"Index: []\n",
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"██ Take instances (rclcpp): ██\n",
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"Empty DataFrame\n",
"Columns: []\n",
"Index: []\n",
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"██ Lifecycle state machines: ██\n",
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"Empty DataFrame\n",
"Columns: []\n",
"Index: []\n",
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"██ Lifecycle transitions: ██\n",
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"Empty DataFrame\n",
"Columns: []\n",
"Index: []\n",
"==================================================\n"
]
}
],
"source": [
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"n=1\n",
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"self = handler.data\n",
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"print('====================ROS 2 DATA MODEL===================')\n",
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"print('██ Contexts: ██')\n",
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"print(self.contexts[:n].to_string())\n",
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"print('██ Nodes: ██')\n",
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"print(self.nodes[:n].to_string())\n",
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"print('██ Publishers (rmw): ██')\n",
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"print(self.rmw_publishers[:n].to_string())\n",
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"print('██ Publishers (rcl): ██')\n",
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"print(self.rcl_publishers[:n].to_string())\n",
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"print('██ Subscriptions (rmw): ██')\n",
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"print(self.rmw_subscriptions[:n].to_string())\n",
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"print('██ Subscriptions (rcl): ██')\n",
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"print(self.rcl_subscriptions[:n].to_string())\n",
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"print('██ Subscription objects: ██')\n",
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"print(self.subscription_objects[:n].to_string())\n",
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"print('██ Services: ██')\n",
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"print(self.services[:n].to_string())\n",
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"print('██ Clients: ██')\n",
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"print(self.clients[:n].to_string())\n",
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"print('██ Timers: ██')\n",
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"print(self.timers[:n].to_string())\n",
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"print('██ Timer-node links: ██')\n",
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"print(self.timer_node_links[:n].to_string())\n",
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"print('██ Callback objects: ██')\n",
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"print(self.callback_objects[:n].to_string())\n",
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"print('██ Callback symbols: ██')\n",
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"print(self.callback_symbols[:n].to_string())\n",
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"print('██ Callback instances: ██')\n",
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"print(self.callback_instances[:n].to_string())\n",
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"print('██ Publish instances (rclcpp): ██')\n",
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"print(self.rclcpp_publish_instances[:n].to_string())\n",
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"print('██ Publish instances (rcl): ██')\n",
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"print(self.rcl_publish_instances[:n].to_string())\n",
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"print('██ Publish instances (rmw): ██')\n",
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"print(self.rmw_publish_instances[:n].to_string())\n",
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"print('██ Take instances (rmw): ██')\n",
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"print(self.rmw_take_instances[:n].to_string())\n",
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"print('██ Take instances (rcl): ██')\n",
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"print(self.rcl_take_instances[:n].to_string())\n",
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"print('██ Take instances (rclcpp): ██')\n",
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"print(self.rclcpp_take_instances[:n].to_string())\n",
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"print('██ Lifecycle state machines: ██')\n",
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"print(self.lifecycle_state_machines[:n].to_string())\n",
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"print('██ Lifecycle transitions: ██')\n",
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"print(self.lifecycle_transitions[:n].to_string())\n",
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"print('==================================================')"
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]
},
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{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Data Structures"
]
},
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{
"cell_type": "code",
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"execution_count": 84,
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"metadata": {},
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"outputs": [],
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"source": [
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"from dataclasses import dataclass\n",
"from typing import List, Dict\n",
"\n",
"def str_to_cls(classname):\n",
" return getattr(sys.modules[__name__], classname)\n",
"\n",
"def row_to_type(row, type, has_idx):\n",
" return type(id=row.name, **row) if has_idx else type(**row)\n",
"\n",
"def df_to_type_list(df, type):\n",
" if isinstance(type, str):\n",
" type = str_to_cls(type)\n",
" \n",
" has_idx = not isinstance(df.index, pd.RangeIndex)\n",
" return [row_to_type(row, type, has_idx) for _, row in df.iterrows()]\n",
"\n",
"def by_index(df, index, type):\n",
" return df_to_type_list(df.loc[index], type)\n",
"\n",
"def by_column(df, column_name, column_val, type):\n",
" return df_to_type_list(df[df[column_name] == column_val], type)\n",
"\n",
"def list_to_dict(ls, key='id'):\n",
" return {getattr(item, key): item for item in ls}\n",
"\n",
"#################################\n",
"# Predefined (from ROS2DataModel)\n",
"#################################\n",
"\n",
"@dataclass\n",
"class Node:\n",
" id: int\n",
" timestamp: int\n",
" tid: int\n",
" rmw_handle: int\n",
" name: str\n",
" namespace: str\n",
"\n",
" @property\n",
" def path(self) -> str:\n",
" return os.path.join(self.namespace, self.name)\n",
"\n",
" @property\n",
" def publishers(self) -> List['Publisher']:\n",
" return list(filter(lambda pub: pub.node_handle == self.id, publishers.values()))\n",
"\n",
" @property\n",
" def subscriptions(self) -> List['Subscription']:\n",
" return list(filter(lambda sub: sub.node_handle == self.id, subscriptions.values()))\n",
" \n",
" @property\n",
" def timers(self) -> List['Timer']:\n",
" links = [link.id for link in timer_node_links.values() if link.node_handle == self.id]\n",
" return list(filter(lambda timer: timer.id in links, timers.values()))\n",
"\n",
"@dataclass\n",
"class Publisher:\n",
" id: int\n",
" timestamp: int\n",
" node_handle: int\n",
" rmw_handle: int\n",
" topic_name: str\n",
" depth: int\n",
"\n",
" @property\n",
" def node(self) -> 'Node':\n",
" return nodes[self.node_handle]\n",
"\n",
" @property\n",
" def subscriptions(self) -> List['Subscription']:\n",
" return list(filter(lambda sub: sub.topic_name == self.topic_name, subscriptions.values()))\n",
"\n",
" @property\n",
" def instances(self) -> List['PublishInstance']:\n",
" return list(filter(lambda inst: inst.publisher_handle == self.id, publish_instances))\n",
" \n",
" @property\n",
" def topic(self) -> 'Topic':\n",
" return topics[self.topic_name]\n",
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"\n",
"\n",
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"@dataclass\n",
"class Subscription:\n",
" id: int\n",
" timestamp: int\n",
" node_handle: int\n",
" rmw_handle: int\n",
" topic_name: str\n",
" depth: int\n",
"\n",
" @property\n",
" def node(self) -> 'Node':\n",
" return nodes[self.node_handle]\n",
"\n",
" @property\n",
" def publishers(self) -> List['Publisher']:\n",
" return list(filter(lambda pub: pub.topic_name == self.topic_name, publishers.values()))\n",
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" \n",
" @property\n",
" def subscription_object(self) -> 'SubscriptionObject':\n",
" sub_objs = list(filter(lambda sub_obj: sub_obj.subscription_handle == self.id, subscription_objects.values()))\n",
" assert len(sub_objs) <= 1\n",
" return sub_objs[0] if sub_objs else None\n",
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"\n",
" @property\n",
" def topic(self) -> 'Topic':\n",
" return topics[self.topic_name]\n",
" \n",
"@dataclass\n",
"class Timer:\n",
" id: int\n",
" timestamp: int\n",
" period: int\n",
" tid: int\n",
"\n",
" @property\n",
" def nodes(self) -> List['Node']:\n",
" links = [link.node_handle for link in timer_node_links.values() if link.id == self.id]\n",
" return list(filter(lambda node: node.id in links, nodes.values()))\n",
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" \n",
" @property\n",
" def callback_object(self) -> 'CallbackObject':\n",
" return callback_objects[self.id]\n",
" \n",
" @property\n",
" def info(self):\n",
" return util.get_timer_handle_info(self.id)\n",
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"\n",
"@dataclass\n",
"class TimerNodeLink:\n",
" id: int\n",
" timestamp: int\n",
" node_handle: int\n",
"\n",
"@dataclass\n",
"class SubscriptionObject:\n",
" id: int # subscription\n",
" timestamp: int\n",
" subscription_handle: int\n",
"\n",
" @property\n",
" def subscription(self) -> 'Subscription':\n",
" return subscriptions[self.subscription_handle]\n",
"\n",
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" @property\n",
" def callback_object(self) -> 'CallbackObject':\n",
" return callback_objects[self.id]\n",
"\n",
" @property\n",
" def info(self):\n",
" return util.get_subscription_reference_info(self.id)\n",
"\n",
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"@dataclass\n",
"class CallbackObject:\n",
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" id: int # (reference) = subscription_object.id | timer.id | ....\n",
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" timestamp: int\n",
" callback_object: int\n",
"\n",
" @property\n",
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" def callback_instances(self) -> List['CallbackInstance']:\n",
" return list(filter(lambda inst: inst.callback_object == self.callback_object, callback_instances))\n",
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"\n",
" @property\n",
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" def owner(self):\n",
" if self.id in timers:\n",
" return timers[self.id]\n",
" if self.id in publishers:\n",
" return publishers[self.id]\n",
" if self.id in subscription_objects:\n",
" return subscription_objects[self.id]\n",
" if self.id in handler.data.services.index:\n",
" return 'Service'\n",
" if self.id in handler.data.clients.index:\n",
" return 'Client'\n",
" return None\n",
"\n",
" @property\n",
" def owner_info(self):\n",
" info = util.get_callback_owner_info(self.callback_object)\n",
" if info is None:\n",
" return None, None\n",
" \n",
" type_name, dict_str = info.split(\" -- \")\n",
" kv_strs = dict_str.split(\", \")\n",
" info_dict = {k: v for k, v in map(lambda kv_str: kv_str.split(\": \", maxsplit=1), kv_strs)}\n",
" return type_name, info_dict\n",
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"\n",
"@dataclass\n",
"class PublishInstance:\n",
" publisher_handle: int\n",
" timestamp: int\n",
" message: int\n",
"\n",
" @property\n",
" def publisher(self) -> 'Publisher':\n",
" return publishers[self.publisher_handle]\n",
"\n",
"@dataclass\n",
"class CallbackInstance:\n",
" callback_object: int\n",
" timestamp: int\n",
" duration: int\n",
" intra_process: bool\n",
"\n",
" @property\n",
" def callback_obj(self) -> 'CallbackObject':\n",
" return callback_objects[self.callback_object]\n",
"\n",
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"@dataclass\n",
"class CallbackSymbol:\n",
" id: int # callback_object\n",
" timestamp: int\n",
" symbol: str\n",
"\n",
" @property\n",
" def callback_obj(self) -> 'CallbackObject':\n",
" cb_objs = list(filter(lambda cb_obj: cb_obj.callback_object == self.id, callback_objects.values()))\n",
" assert len(cb_objs) <= 1\n",
" return cb_objs[0] if cb_objs else None\n",
"\n",
"\n",
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"#######################################\n",
"# Self-defined (not from ROS2DataModel)\n",
"#######################################\n",
"\n",
"@dataclass\n",
"class Topic:\n",
" name: str\n",
"\n",
" @property\n",
" def publishers(self) -> List['Publisher']:\n",
" return list(filter(lambda pub: pub.topic_name == self.name, publishers.values()))\n",
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" \n",
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" @property\n",
" def subscriptions(self) -> List['Subscription']:\n",
2022-05-24 20:35:30 +02:00
" return list(filter(lambda sub: sub.topic_name == self.name, subscriptions.values()))\n"
]
},
{
"cell_type": "code",
"execution_count": 85,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Processed 61 nodes\n",
"Processed 264 publishers\n",
"Processed 212 subscriptions\n",
"Processed 67 timers\n",
"Processed 31 timer-node links\n",
"Processed 201 subscription objects\n",
"Processed 483 callback objects\n",
"Processed 483 callback symbols\n",
"Processed 183512 publish instances\n",
"Processed 390810 callback instances\n",
"Processed 161 topics\n"
]
}
],
"source": [
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"\n",
"#######################################\n",
"# Instantiate collections\n",
"#######################################\n",
"\n",
"nodes: Dict[int, 'Node'] = list_to_dict(df_to_type_list(handler.data.nodes, 'Node')); print(f\"Processed {len(nodes):<8d} nodes\")\n",
"publishers: Dict[int, 'Publisher'] = list_to_dict(df_to_type_list(handler.data.rcl_publishers, 'Publisher')); print(f\"Processed {len(publishers):<8d} publishers\")\n",
"subscriptions: Dict[int, 'Subscription'] = list_to_dict(df_to_type_list(handler.data.rcl_subscriptions, 'Subscription')); print(f\"Processed {len(subscriptions):<8d} subscriptions\")\n",
"timers: Dict[int, 'Timer'] = list_to_dict(df_to_type_list(handler.data.timers, 'Timer')); print(f\"Processed {len(timers):<8d} timers\")\n",
"timer_node_links: Dict[int, 'TimerNodeLink'] = list_to_dict(df_to_type_list(handler.data.timer_node_links, 'TimerNodeLink')); print(f\"Processed {len(timer_node_links):<8d} timer-node links\")\n",
"subscription_objects: Dict[int, 'SubscriptionObject'] = list_to_dict(df_to_type_list(handler.data.subscription_objects, 'SubscriptionObject')); print(f\"Processed {len(subscription_objects):<8d} subscription objects\")\n",
"callback_objects: Dict[int, 'CallbackObject'] = list_to_dict(df_to_type_list(handler.data.callback_objects, 'CallbackObject')); print(f\"Processed {len(callback_objects):<8d} callback objects\")\n",
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"callback_symbols: Dict[int, 'CallbackSymbol'] = list_to_dict(df_to_type_list(handler.data.callback_symbols, 'CallbackSymbol')); print(f\"Processed {len(callback_symbols):<8d} callback symbols\")\n",
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"publish_instances: List['PublishInstance'] = df_to_type_list(handler.data.rcl_publish_instances, 'PublishInstance'); print(f\"Processed {len(publish_instances):<8d} publish instances\")\n",
"callback_instances: List['CallbackInstance'] = df_to_type_list(handler.data.callback_instances, 'CallbackInstance'); print(f\"Processed {len(callback_instances):<8d} callback instances\")\n",
"\n",
"_unique_topic_names = {*(pub.topic_name for pub in publishers.values()), *(sub.topic_name for sub in subscriptions.values())}\n",
"topics: Dict[str, 'Topic'] = list_to_dict(map(Topic, _unique_topic_names), key=\"name\"); print(f\"Processed {len(topics):<8d} topics\")"
]
},
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{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Callback-Sub & Callback-Timer Links"
]
},
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{
"cell_type": "code",
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"execution_count": 83,
2022-05-23 21:28:40 +02:00
"metadata": {},
"outputs": [
{
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"name": "stdout",
"output_type": "stream",
"text": [
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1026 Subscription n=system_monitor_container t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1042 Subscription n=robot_state_publisher t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1070 Subscription n=system_error_monitor t=/parameter_events \n",
"void (AutowareErrorMonitor::?)(diagnostic_msgs::msg::DiagnosticArrayconst*) : i=1780 Subscription n=system_error_monitor t=/diagnostics_agg \n",
"void (AutowareErrorMonitor::?)(tier4_control_msgs::msg::GateModeconst*) : i=1626 Subscription n=system_error_monitor t=/control/current_gate_mode \n",
"void (AutowareErrorMonitor::?)(autoware_auto_system_msgs::msg::AutowareStateconst*) : i=1772 Subscription n=system_error_monitor t=/autoware/state \n",
"void (AutowareErrorMonitor::?)(autoware_auto_vehicle_msgs::msg::ControlModeReportconst*) : i=6466 Subscription n=system_error_monitor t=/vehicle/status/control_mode \n",
"void (robot_state_publisher::RobotStatePublisher::?)(sensor_msgs::msg::JointState*) : i= 0 Subscription n=robot_state_publisher t=/joint_states \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 950 Subscription n=aggregator_node t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1035 Subscription n=emergency_handler t=/parameter_events \n",
"void (EmergencyHandler::?)(autoware_auto_system_msgs::msg::HazardStatusStampedconst*) : i=1626 Subscription n=emergency_handler t=/system/emergency/hazard_status\n",
"void (EmergencyHandler::?)(autoware_auto_control_msgs::msg::AckermannControlCommandconst*) : i=10468 Subscription n=emergency_handler t=/control/command/control_cmd \n",
"void (EmergencyHandler::?)(nav_msgs::msg::Odometryconst*) : i=6466 Subscription n=emergency_handler t=/localization/kinematic_state \n",
"void (EmergencyHandler::?)(autoware_auto_vehicle_msgs::msg::ControlModeReportconst*) : i=6466 Subscription n=emergency_handler t=/vehicle/status/control_mode \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1026 Subscription n=map_container t=/parameter_events \n",
"void (HeaderlessHeartbeatChecker<autoware_auto_system_msgs::msg::HazardStatusStamped>::?)(autowar...: i=1626 Subscription n=emergency_handler t=/system/emergency/hazard_status\n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1030 Subscription n=ad_service_state_monitor t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1026 Subscription n=transform_listener_impl_aaaab90b38b0 t=/parameter_events \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaab90b38b0 t=/tf \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaab90b38b0 t=/tf_static \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 940 Subscription n=mission_planning_container t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 907 Subscription n=scenario_selector t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 903 Subscription n=transform_listener_impl_aaaad6cbbcb8 t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 907 Subscription n=external_velocity_limit_selector t=/parameter_events \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaad6cbbcb8 t=/tf \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaad6cbbcb8 t=/tf_static \n",
"void (AutowareStateMonitorNode::?)(autoware_auto_vehicle_msgs::msg::Engageconst*) : i=1626 Subscription n=ad_service_state_monitor t=/api/autoware/get/engage \n",
"void (AutowareStateMonitorNode::?)(autoware_auto_vehicle_msgs::msg::ControlModeReportconst*) : i=6466 Subscription n=ad_service_state_monitor t=/vehicle/status/control_mode \n",
"void (AutowareStateMonitorNode::?)(autoware_auto_planning_msgs::msg::HADMapRouteconst*) : i= 1 Subscription n=ad_service_state_monitor t=/planning/mission_planning/route\n",
"void (AutowareStateMonitorNode::?)(nav_msgs::msg::Odometryconst*) : i=6466 Subscription n=ad_service_state_monitor t=/localization/kinematic_state \n",
"void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::Trajectoryconst*) : i= 978 Subscription n=scenario_selector t=/planning/scenario_planning/lane_driving/trajectory\n",
"void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::Trajectoryconst*) : i= 101 Subscription n=scenario_selector t=/planning/scenario_planning/parking/trajectory\n",
"void (ScenarioSelectorNode::?)(autoware_auto_mapping_msgs::msg::HADMapBinconst*) : i= 1 Subscription n=scenario_selector t=/map/vector_map \n",
"void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::HADMapRouteconst*) : i= 1 Subscription n=scenario_selector t=/planning/mission_planning/route\n",
"void (ScenarioSelectorNode::?)(nav_msgs::msg::Odometryconst*) : i=6466 Subscription n=scenario_selector t=/localization/kinematic_state \n",
"void (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimitconst*) : i= 0 Subscription n=external_velocity_limit_selector t=/planning/scenario_planning/max_velocity_default\n",
"void (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimitconst*) : i= 0 Subscription n=external_velocity_limit_selector t=/planning/scenario_planning/max_velocity_candidates\n",
"void (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimitClearCommandco...: i= 0 Subscription n=external_velocity_limit_selector t=/planning/scenario_planning/clear_velocity_limit\n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 934 Subscription n=motion_velocity_smoother t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 930 Subscription n=transform_listener_impl_aaaaf1071f80 t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 887 Subscription n=behavior_planning_container t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 887 Subscription n=motion_planning_container t=/parameter_events \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaaf1071f80 t=/tf \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf1071f80 t=/tf_static \n",
"void (motion_velocity_smoother::MotionVelocitySmootherNode::?)(autoware_auto_planning_msgs::msg::...: i=1079 Subscription n=motion_velocity_smoother t=/planning/scenario_planning/scenario_selector/trajectory\n",
"void (motion_velocity_smoother::MotionVelocitySmootherNode::?)(nav_msgs::msg::Odometryconst*) : i=6267 Subscription n=motion_velocity_smoother t=/localization/kinematic_state \n",
"void (motion_velocity_smoother::MotionVelocitySmootherNode::?)(tier4_planning_msgs::msg::Velocity...: i= 0 Subscription n=motion_velocity_smoother t=/planning/scenario_planning/max_velocity\n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 887 Subscription n=parking_container t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 888 Subscription n=control_container t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 896 Subscription n=planning_error_monitor t=/parameter_events \n",
"void (planning_diagnostics::PlanningErrorMonitorNode::?)(autoware_auto_planning_msgs::msg::Trajec...: i=1078 Subscription n=planning_error_monitor t=/planning/scenario_planning/trajectory\n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 562 Subscription n=cpu_monitor t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 874 Subscription n=hdd_monitor t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 873 Subscription n=obstacle_avoidance_planner t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 875 Subscription n=lateral_controller_node_exe t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 863 Subscription n=transform_listener_impl_aaaaf51e51c0 t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 862 Subscription n=transform_listener_impl_aaaaf153e160 t=/parameter_events \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6465 Subscription n=transform_listener_impl_aaaaf51e51c0 t=/tf \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaaf153e160 t=/tf \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf51e51c0 t=/tf_static \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf153e160 t=/tf_static \n",
"void (ObstacleAvoidancePlanner::?)(autoware_auto_planning_msgs::msg::Path*) : i= 978 Subscription n=obstacle_avoidance_planner t=/planning/scenario_planning/lane_driving/behavior_planning/path\n",
"void (ObstacleAvoidancePlanner::?)(nav_msgs::msg::Odometry*) : i=6141 Subscription n=obstacle_avoidance_planner t=/localization/kinematic_state \n",
"void (ObstacleAvoidancePlanner::?)(autoware_auto_perception_msgs::msg::PredictedObjects*) : i=1582 Subscription n=obstacle_avoidance_planner t=/perception/object_recognition/objects\n",
"void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(autoware_auto_p...: i=1078 Subscription n=lateral_controller_node_exe t=/planning/scenario_planning/trajectory\n",
"void (ObstacleAvoidancePlanner::?)(tier4_planning_msgs::msg::EnableAvoidance*) : i= 0 Subscription n=obstacle_avoidance_planner t=/planning/scenario_planning/lane_driving/obstacle_avoidance_approval\n",
"void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(autoware_auto_v...: i=6285 Subscription n=lateral_controller_node_exe t=/vehicle/status/steering_status\n",
"void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(nav_msgs::msg::...: i=6285 Subscription n=lateral_controller_node_exe t=/localization/kinematic_state \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 710 Subscription n=mem_monitor t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 703 Subscription n=lanelet2_map_loader t=/parameter_events \n",
"void (diagnostic_aggregator::Aggregator::?)(diagnostic_msgs::msg::DiagnosticArray*) : i=10587 Subscription n=aggregator_node t=/diagnostics \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 695 Subscription n=net_monitor t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 683 Subscription n=lanelet2_map_visualization t=/parameter_events \n",
"void (Lanelet2MapVisualizationNode::?)(autoware_auto_mapping_msgs::msg::HADMapBinconst*) : i= 1 Subscription n=lanelet2_map_visualization t=/map/vector_map \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 677 Subscription n=ntp_monitor t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 669 Subscription n=mission_planner t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 665 Subscription n=transform_listener_impl_aaab0bafc440 t=/parameter_events \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaab0bafc440 t=/tf \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaab0bafc440 t=/tf_static \n",
"void (mission_planner::MissionPlanner::?)(geometry_msgs::msg::PoseStampedconst*) : i= 1 Subscription n=mission_planner t=/planning/mission_planning/goal\n",
"void (mission_planner::MissionPlanner::?)(geometry_msgs::msg::PoseStampedconst*) : i= 0 Subscription n=mission_planner t=/planning/mission_planning/checkpoint\n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 661 Subscription n=process_monitor t=/parameter_events \n",
"void (mission_planner::MissionPlannerLanelet2::?)(autoware_auto_mapping_msgs::msg::HADMapBinconst*) : i= 1 Subscription n=mission_planner t=/map/vector_map \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 655 Subscription n=longitudinal_controller_node_exe t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 651 Subscription n=transform_listener_impl_aaaaf52d4c30 t=/parameter_events \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6465 Subscription n=transform_listener_impl_aaaaf52d4c30 t=/tf \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf52d4c30 t=/tf_static \n",
"void (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)(nav_msgs::...: i=6285 Subscription n=longitudinal_controller_node_exe t=/localization/kinematic_state \n",
"void (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)(autoware_a...: i=1078 Subscription n=longitudinal_controller_node_exe t=/planning/scenario_planning/trajectory\n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 603 Subscription n=gpu_monitor t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 581 Subscription n=goal_pose_visualizer t=/parameter_events \n",
"void (mission_planner::GoalPoseVisualizer::?)(autoware_auto_planning_msgs::msg::HADMapRouteconst*) : i= 1 Subscription n=goal_pose_visualizer t=/planning/mission_planning/route\n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 569 Subscription n=pointcloud_map_loader t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 569 Subscription n=external_cmd_selector t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 553 Subscription n=behavior_path_planner t=/parameter_events \n",
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::ControlCommandStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/local/control\n",
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::GearShiftStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/local/shift\n",
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::TurnSignalStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/local/turn_signal\n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 551 Subscription n=transform_listener_impl_ffff200c66b0 t=/parameter_events \n",
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::Heartbeatconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/local/heartbeat\n",
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::ControlCommandStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/remote/control\n",
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::GearShiftStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/remote/shift\n",
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::TurnSignalStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/remote/turn_signal\n",
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::Heartbeatconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/remote/heartbeat\n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_ffff200c66b0 t=/tf \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_ffff200c66b0 t=/tf_static \n",
"void (behavior_path_planner::BehaviorPathPlannerNode::?)(nav_msgs::msg::Odometryconst*) : i=4320 Subscription n=behavior_path_planner t=/localization/kinematic_state \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 518 Subscription n=external_cmd_converter t=/parameter_events \n",
"void (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_perception_msgs::msg::Pred...: i=1049 Subscription n=behavior_path_planner t=/perception/object_recognition/objects\n",
"behavior_path_planner::BehaviorPathPlannerNode::BehaviorPathPlannerNode(rclcpp::NodeOptionsconst&...: i=1577 Subscription n=behavior_path_planner t=/planning/scenario_planning/scenario\n",
"void (behavior_path_planner::BehaviorPathPlannerNode::?)(tier4_planning_msgs::msg::Approvalconst*) : i=1171 Subscription n=behavior_path_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_approval\n",
"void (behavior_path_planner::BehaviorPathPlannerNode::?)(tier4_planning_msgs::msg::PathChangeModu...: i= 0 Subscription n=behavior_path_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_force\n",
"void (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_mapping_msgs::msg::HADMapB...: i= 1 Subscription n=behavior_path_planner t=/map/vector_map \n",
"void (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_planning_msgs::msg::HADMap...: i= 1 Subscription n=behavior_path_planner t=/planning/mission_planning/route\n",
"void (external_cmd_converter::ExternalCmdConverterNode::?)(nav_msgs::msg::Odometryconst*) : i=6285 Subscription n=external_cmd_converter t=/localization/kinematic_state \n",
"void (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_external_api_msgs::msg::ControlC...: i= 0 Subscription n=external_cmd_converter t=/external/selected/external_control_cmd\n",
"void (behavior_path_planner::SideShiftModule::?)(tier4_planning_msgs::msg::LateralOffsetconst*) : i= 0 Subscription n=behavior_path_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/input/lateral_offset\n",
"void (external_cmd_converter::ExternalCmdConverterNode::?)(autoware_auto_vehicle_msgs::msg::GearC...: i= 0 Subscription n=external_cmd_converter t=/external/selected/gear_cmd \n",
"void (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_control_msgs::msg::GateModeconst*) : i=1626 Subscription n=external_cmd_converter t=/control/current_gate_mode \n",
"void (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_external_api_msgs::msg::Heartbea...: i= 0 Subscription n=external_cmd_converter t=/external/selected/heartbeat \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 469 Subscription n=costmap_generator t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 454 Subscription n=transform_listener_impl_aaaaf521b848 t=/parameter_events \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaaf521b848 t=/tf \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf521b848 t=/tf_static \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 364 Subscription n=latlon_muxer_node_exe t=/parameter_events \n",
"void (autoware::motion::control::trajectory_follower_nodes::LatLonMuxer::?)(autoware_auto_control...: i=5235 Subscription n=latlon_muxer_node_exe t=/control/trajectory_follower/lateral/control_cmd\n",
"void (autoware::motion::control::trajectory_follower_nodes::LatLonMuxer::?)(autoware_auto_control...: i=5235 Subscription n=latlon_muxer_node_exe t=/control/trajectory_follower/longitudinal/control_cmd\n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 358 Subscription n=lane_departure_checker_node t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 354 Subscription n=transform_listener_impl_aaaaf55ae730 t=/parameter_events \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6465 Subscription n=transform_listener_impl_aaaaf55ae730 t=/tf \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf55ae730 t=/tf_static \n",
"void (lane_departure_checker::LaneDepartureCheckerNode::?)(nav_msgs::msg::Odometryconst*) : i=6286 Subscription n=lane_departure_checker_node t=/localization/kinematic_state \n",
"void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_mapping_msgs::msg::HADMa...: i= 1 Subscription n=lane_departure_checker_node t=/map/vector_map \n",
"void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::HADM...: i= 1 Subscription n=lane_departure_checker_node t=/planning/mission_planning/route\n",
"void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::Traj...: i=1078 Subscription n=lane_departure_checker_node t=/planning/scenario_planning/trajectory\n",
"void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::Traj...: i=5235 Subscription n=lane_departure_checker_node t=/control/trajectory_follower/lateral/predicted_trajectory\n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 333 Subscription n=map_tf_generator t=/parameter_events \n",
"void (MapTFGeneratorNode::?)(sensor_msgs::msg::PointCloud2const*) : i= 1 Subscription n=map_tf_generator t=/map/pointcloud_map \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 322 Subscription n=surround_obstacle_checker t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 318 Subscription n=transform_listener_impl_ffff5c00c708 t=/parameter_events \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6298 Subscription n=transform_listener_impl_ffff5c00c708 t=/tf \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_ffff5c00c708 t=/tf_static \n",
"void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(sensor_msgs::msg::PointCloud2con...: i=1574 Subscription n=surround_obstacle_checker t=/perception/obstacle_segmentation/pointcloud\n",
"void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(autoware_auto_perception_msgs::m...: i=1572 Subscription n=surround_obstacle_checker t=/perception/object_recognition/objects\n",
"void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(nav_msgs::msg::Odometryconst*) : i=6298 Subscription n=surround_obstacle_checker t=/localization/kinematic_state \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 300 Subscription n=obstacle_stop_planner t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 296 Subscription n=transform_listener_impl_ffff3400eba0 t=/parameter_events \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6294 Subscription n=transform_listener_impl_ffff3400eba0 t=/tf \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_ffff3400eba0 t=/tf_static \n",
"void (motion_planning::ObstacleStopPlannerNode::?)(sensor_msgs::msg::PointCloud2const*) : i=1573 Subscription n=obstacle_stop_planner t=/perception/obstacle_segmentation/pointcloud\n",
"void (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_planning_msgs::msg::Trajectoryco...: i= 978 Subscription n=obstacle_stop_planner t=/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory\n",
"void (motion_planning::ObstacleStopPlannerNode::?)(nav_msgs::msg::Odometryconst*) : i=6293 Subscription n=obstacle_stop_planner t=/localization/kinematic_state \n",
"void (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_perception_msgs::msg::PredictedO...: i=1571 Subscription n=obstacle_stop_planner t=/perception/object_recognition/objects\n",
"void (motion_planning::ObstacleStopPlannerNode::?)(tier4_planning_msgs::msg::ExpandStopRangeconst*) : i= 0 Subscription n=obstacle_stop_planner t=/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/input/expand_stop_range\n",
"void (CostmapGenerator::?)(autoware_auto_perception_msgs::msg::PredictedObjectsconst*) : i=1228 Subscription n=costmap_generator t=/perception/object_recognition/objects\n",
"void (CostmapGenerator::?)(sensor_msgs::msg::PointCloud2const*) : i=1287 Subscription n=costmap_generator t=/perception/obstacle_segmentation/pointcloud\n",
"void (CostmapGenerator::?)(autoware_auto_mapping_msgs::msg::HADMapBinconst*) : i= 1 Subscription n=costmap_generator t=/map/vector_map \n",
"void (CostmapGenerator::?)(tier4_planning_msgs::msg::Scenarioconst*) : i=1232 Subscription n=costmap_generator t=/planning/scenario_planning/scenario\n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 227 Subscription n=freespace_planner t=/parameter_events \n",
"void (freespace_planner::FreespacePlannerNode::?)(autoware_auto_planning_msgs::msg::HADMapRouteco...: i= 1 Subscription n=freespace_planner t=/planning/mission_planning/route\n",
"void (freespace_planner::FreespacePlannerNode::?)(nav_msgs::msg::OccupancyGridconst*) : i= 247 Subscription n=freespace_planner t=/planning/scenario_planning/parking/costmap_generator/occupancy_grid\n",
"void (freespace_planner::FreespacePlannerNode::?)(tier4_planning_msgs::msg::Scenarioconst*) : i=1232 Subscription n=freespace_planner t=/planning/scenario_planning/scenario\n",
"void (freespace_planner::FreespacePlannerNode::?)(nav_msgs::msg::Odometryconst*) : i=4919 Subscription n=freespace_planner t=/localization/kinematic_state \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 189 Subscription n=transform_listener_impl_aaaaf5695dc0 t=/parameter_events \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6288 Subscription n=transform_listener_impl_aaaaf5695dc0 t=/tf \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf5695dc0 t=/tf_static \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 188 Subscription n=shift_decider t=/parameter_events \n",
"void (ShiftDecider::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*) : i=10468 Subscription n=shift_decider t=/control/trajectory_follower/control_cmd\n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 183 Subscription n=vehicle_cmd_gate t=/parameter_events \n",
"void (VehicleCmdGate::?)(autoware_auto_system_msgs::msg::EmergencyStateconst*) : i=1625 Subscription n=vehicle_cmd_gate t=/system/emergency/emergency_state\n",
"void (VehicleCmdGate::?)(tier4_external_api_msgs::msg::Heartbeatconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/heartbeat \n",
"void (VehicleCmdGate::?)(tier4_control_msgs::msg::GateModeconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/control/gate_mode_cmd \n",
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::Engageconst*) : i= 2 Subscription n=vehicle_cmd_gate t=/autoware/engage \n",
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::SteeringReportconst*) : i=6282 Subscription n=vehicle_cmd_gate t=/vehicle/status/steering_status\n",
"void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommandconst*) : i=10468 Subscription n=vehicle_cmd_gate t=/control/trajectory_follower/control_cmd\n",
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommandconst*) : i= 983 Subscription n=vehicle_cmd_gate t=/planning/turn_indicators_cmd \n",
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommandconst*) : i= 983 Subscription n=vehicle_cmd_gate t=/planning/hazard_lights_cmd \n",
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommandconst*) : i=1571 Subscription n=vehicle_cmd_gate t=/control/shift_decider/gear_cmd\n",
"void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/control_cmd\n",
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/turn_indicators_cmd\n",
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/hazard_lights_cmd\n",
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/gear_cmd \n",
"void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommandconst*) : i=1625 Subscription n=vehicle_cmd_gate t=/system/emergency/control_cmd \n",
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommandconst*) : i=1625 Subscription n=vehicle_cmd_gate t=/system/emergency/hazard_lights_cmd\n",
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/system/emergency/gear_cmd \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 151 Subscription n=behavior_velocity_planner t=/parameter_events \n",
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 147 Subscription n=transform_listener_impl_ffff24598628 t=/parameter_events \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6070 Subscription n=transform_listener_impl_ffff24598628 t=/tf \n",
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_ffff24598628 t=/tf_static \n",
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg...: i= 981 Subscription n=behavior_velocity_planner t=/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id\n",
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::m...: i=1515 Subscription n=behavior_velocity_planner t=/perception/object_recognition/objects\n",
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(sensor_msgs::msg::PointCloud2con...: i=1517 Subscription n=behavior_velocity_planner t=/perception/obstacle_segmentation/pointcloud\n",
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometryconst*) : i=6069 Subscription n=behavior_velocity_planner t=/localization/kinematic_state \n",
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_mapping_msgs::msg:...: i= 1 Subscription n=behavior_velocity_planner t=/map/vector_map \n",
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::m...: i= 0 Subscription n=behavior_velocity_planner t=/perception/traffic_light_recognition/traffic_signals\n",
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_api_msgs::msg::CrosswalkSt...: i= 0 Subscription n=behavior_velocity_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_crosswalk_states\n",
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_api_msgs::msg::Intersectio...: i= 0 Subscription n=behavior_velocity_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_intersection_states\n",
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_planning_msgs::msg::Veloci...: i= 0 Subscription n=behavior_velocity_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_velocity_limit_mps\n",
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::m...: i= 0 Subscription n=behavior_velocity_planner t=/external/traffic_light_recognition/traffic_signals\n",
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_v2x_msgs::msg::VirtualTraf...: i= 0 Subscription n=behavior_velocity_planner t=/awapi/tmp/virtual_traffic_light_states\n",
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::OccupancyGridconst*): i=1515 Subscription n=behavior_velocity_planner t=/perception/occupancy_grid_map/map\n",
"void (AutowareErrorMonitor::?)() : i=1783 Timer n=system_error_monitor p=100 ms \n",
"void (EmergencyHandler::?)() : i=1782 Timer n=emergency_handler p=100 ms \n",
"void (diagnostic_updater::Updater::?)() : i= 178 Timer n=ad_service_state_monitor p=1000 ms\n",
"void (ScenarioSelectorNode::?)() : i=1672 Timer n=scenario_selector p=100 ms \n",
"void (diagnostic_updater::Updater::?)() : i= 178 Timer n=planning_error_monitor p=1000 ms\n",
"void (planning_diagnostics::PlanningErrorMonitorNode::?)() : i=1781 Timer n=planning_error_monitor p=100 ms \n",
"void (diagnostic_updater::Updater::?)() : i= 174 Timer n=cpu_monitor p=1000 ms\n",
"void (diagnostic_updater::Updater::?)() : i= 178 Timer n=hdd_monitor p=1000 ms\n",
"void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)() : i=5433 Timer n=lateral_controller_node_exe p=30 ms \n",
"void (HDDMonitor::?)() : i= 178 Timer n=hdd_monitor p=1000 ms\n",
"void (diagnostic_updater::Updater::?)() : i= 178 Timer n=mem_monitor p=1000 ms\n",
"void (diagnostic_aggregator::Aggregator::?)() : i=1780 Timer n=aggregator_node p=100 ms \n",
"void (diagnostic_updater::Updater::?)() : i= 178 Timer n=net_monitor p=1000 ms\n",
"void (diagnostic_updater::Updater::?)() : i= 177 Timer n=ntp_monitor p=1000 ms\n",
"void (diagnostic_updater::Updater::?)() : i= 121 Timer n=process_monitor p=1000 ms\n",
"void (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)() : i=5427 Timer n=longitudinal_controller_node_exe p=30 ms \n",
"void (diagnostic_updater::Updater::?)() : i= 177 Timer n=gpu_monitor p=1000 ms\n",
"void (diagnostic_updater::Updater::?)() : i= 163 Timer n=external_cmd_selector p=1000 ms\n",
"void (ExternalCmdSelector::?)() : i=1628 Timer n=external_cmd_selector p=100 ms \n",
"void (diagnostic_updater::Updater::?)() : i= 163 Timer n=external_cmd_converter p=1000 ms\n",
"void (external_cmd_converter::ExternalCmdConverterNode::?)() : i=1629 Timer n=external_cmd_converter p=100 ms \n",
"void (diagnostic_updater::Updater::?)() : i= 163 Timer n=lane_departure_checker_node p=1000 ms\n",
"void (AutowareStateMonitorNode::?)() : i=1772 Timer n=ad_service_state_monitor p=100 ms \n",
"void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)() : i=1630 Timer n=surround_obstacle_checker p=100 ms \n",
"void (CostmapGenerator::?)() : i=1339 Timer n=costmap_generator p=100 ms \n",
"void (freespace_planner::FreespacePlannerNode::?)() : i=1332 Timer n=freespace_planner p=100 ms \n",
"void (lane_departure_checker::LaneDepartureCheckerNode::?)() : i=1627 Timer n=lane_departure_checker_node p=100 ms \n",
"void (ShiftDecider::?)() : i=1627 Timer n=shift_decider p=100 ms \n",
"void (diagnostic_updater::Updater::?)() : i= 162 Timer n=vehicle_cmd_gate p=1000 ms\n",
"void (VehicleCmdGate::?)() : i=1626 Timer n=vehicle_cmd_gate p=100 ms \n",
"void (behavior_path_planner::BehaviorPathPlannerNode::?)() : i= 984 Timer n=behavior_path_planner p=100 ms \n"
]
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}
],
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"source": [
"import re\n",
"\n",
"sym_table = []\n",
"\n",
"for sym in callback_symbols.values():\n",
" try:\n",
" cbo = list(filter(lambda val: val.callback_object==sym.id, callback_objects.values()))\n",
" assert len(cbo) == 1\n",
" cbo = cbo[0]\n",
" except:\n",
" print(len(cbo))\n",
" continue\n",
" owner_info = cbo.owner_info\n",
"\n",
" if None in owner_info: continue\n",
" type, info = owner_info\n",
" sym_table.append((sym, type, info))\n",
"\n",
"sym_table.sort(key=lambda tup: tup[1])\n",
"\n",
"def trim(string, length):\n",
" if len(string) > length:\n",
" return f\"{string[:length-3]}...\"\n",
" return string\n",
"\n",
"for sym, type, info in sym_table:\n",
" sym: CallbackSymbol\n",
" pretty_sym = util._prettify(sym.symbol)\n",
" pretty_sym = re.sub(r\"std::shared_ptr<(.*?)>\", r\"\\1*\", pretty_sym)\n",
" try:\n",
" i = len(sym.callback_obj.callback_instances)\n",
" except KeyError:\n",
" i = -1\n",
" print(f\"{trim(pretty_sym, 100):100s}: i={i:>4d} {type:12s} n={info['node']:40s}\", end=' ') \n",
" if type == 'Timer':\n",
" print(f\"p={info['period']:7s}\")\n",
" elif type == 'Subscription':\n",
" print(f\"t={info['topic']:30s}\")\n",
" else:\n",
" print()"
]
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},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Topic-Node Mapping"
]
},
{
"cell_type": "code",
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"execution_count": 5,
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"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"161 topics were aggregated into 78 cohorts\n"
]
}
],
"source": [
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"# Aggregate topics that have the same pubs and subs\n",
"topic_cohorts = {}\n",
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"for topic in topics.values():\n",
" key = (frozenset({*(pub.node_handle for pub in topic.publishers)}), frozenset({*(sub.node_handle for sub in topic.subscriptions)}))\n",
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" if key not in topic_cohorts:\n",
" topic_cohorts[key] = []\n",
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" topic_cohorts[key].append(topic)\n",
"\n",
"print(f\"{len(topics)} topics were aggregated into {len(topic_cohorts)} cohorts\")"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Timer-Node Mapping"
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]
},
{
"cell_type": "code",
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"execution_count": 6,
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"metadata": {},
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"outputs": [
{
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"name": "stdout",
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"output_type": "stream",
"text": [
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"/system/system_error_monitor : 10.00Hz\n",
"/system/emergency_handler : 10.00Hz\n",
"/system/ad_service_state_monitor : 1.00Hz\n",
"/planning/scenario_planning/scenario_selector : 10.00Hz\n",
"/planning/planning_diagnostics/planning_error_monitor : 1.00Hz\n",
"/planning/planning_diagnostics/planning_error_monitor : 10.00Hz\n",
"/system/system_monitor/cpu_monitor : 1.00Hz\n",
"/system/system_monitor/hdd_monitor : 1.00Hz\n",
"/control/trajectory_follower/lateral_controller_node_exe : 33.33Hz\n",
"/system/system_monitor/hdd_monitor : 1.00Hz\n",
"/system/system_monitor/mem_monitor : 1.00Hz\n",
"/aggregator_node : 10.00Hz\n",
"/system/system_monitor/net_monitor : 1.00Hz\n",
"/system/system_monitor/ntp_monitor : 1.00Hz\n",
"/system/system_monitor/process_monitor : 1.00Hz\n",
"/control/trajectory_follower/longitudinal_controller_node_exe : 33.33Hz\n",
"/system/system_monitor/gpu_monitor : 1.00Hz\n",
"/control/external_cmd_selector : 1.00Hz\n",
"/control/external_cmd_selector : 10.00Hz\n",
"/control/external_cmd_converter : 1.00Hz\n",
"/control/external_cmd_converter : 10.00Hz\n",
"/control/trajectory_follower/lane_departure_checker_node : 1.00Hz\n",
"/system/ad_service_state_monitor : 10.00Hz\n",
"/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker : 10.00Hz\n",
"/planning/scenario_planning/parking/costmap_generator : 10.00Hz\n",
"/planning/scenario_planning/parking/freespace_planner : 10.00Hz\n",
"/control/trajectory_follower/lane_departure_checker_node : 10.00Hz\n",
"/control/shift_decider : 10.00Hz\n",
"/control/vehicle_cmd_gate : 1.00Hz\n",
"/control/vehicle_cmd_gate : 10.00Hz\n",
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner : 10.00Hz\n",
"UNKNOWN (x34) : 1.00Hz\n",
"UNKNOWN (x1) : 2.00Hz\n",
"UNKNOWN (x1) : 10.00Hz\n",
"Found 31 timers with a recorded node, 36 without.\n"
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]
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}
],
"source": [
"unknowns = {}\n",
"\n",
"print_node_timer = lambda node_path, period: print(f\"{node_path:<90s}: {1/(period*1e-9):8.2f}Hz\")\n",
"\n",
"for timer in timers.values():\n",
" timer_nodes = timer.nodes\n",
" if not timer_nodes:\n",
" if timer.period not in unknowns:\n",
" unknowns[timer.period] = 0\n",
" unknowns[timer.period] += 1\n",
"\n",
" for node in timer_nodes: print_node_timer(node.path, timer.period)\n",
" \n",
"for period, count in unknowns.items():\n",
" print_node_timer(f\"UNKNOWN (x{count})\", period)\n",
"\n",
"n_unknown = sum(unknowns.values()) # Values are counts per period\n",
"print(f\"Found {len(timers) - n_unknown} timers with a recorded node, {n_unknown} without.\")"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Measure Frequency Deviations"
]
},
{
"cell_type": "code",
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"execution_count": 7,
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"metadata": {},
"outputs": [
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{
"name": "stdout",
"output_type": "stream",
"text": [
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"219 unknown publisher handles (176 known ones)\n"
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]
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}
],
"source": [
"# Get Publisher frequencies\n",
"df_publications = handler.data.rcl_publish_instances\n",
"pub_stats = {}\n",
"unknown = 0\n",
"for pi in publish_instances:\n",
" try:\n",
" pub = pi.publisher\n",
" except KeyError:\n",
" unknown += 1\n",
" continue\n",
" if pub.id not in pub_stats:\n",
" pub_stats[pub.id] = {'times': []}\n",
" pub_stats[pub.id]['times'].append(pi.timestamp*1e-9) # Nanoseconds to seconds float\n",
"\n",
"print(f\"{unknown} unknown publisher handles ({len(pub_stats)} known ones)\")"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Plot Frequency Deviations"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"scrolled": true
},
"outputs": [],
"source": [
"fig_dirname = \"fig_frequency\"\n",
"os.makedirs(fig_dirname, exist_ok=True)\n",
"for i, (k, v) in enumerate(sorted(pub_stats.items(), key=lambda kv: len(kv[1]['times']), reverse=True)):\n",
" pub_time_diff = np.diff(np.array(v['times']))\n",
" v['period'] = pub_time_diff.mean()\n",
" v['period_std'] = pub_time_diff.std()\n",
" v['frequency'] = 1 / v['period']\n",
" v['frequency_std'] = (1/pub_time_diff).std()\n",
"\n",
" try:\n",
" publisher = publishers[k]\n",
" publisher_node = publisher.node\n",
" topic_name = publisher.topic_name\n",
" node_path = publisher_node.path\n",
" except Exception:\n",
" topic_name=\"UNKNOWN\"\n",
" node_path=\"UNKNOWN\"\n",
" \n",
" fig = plt.figure(figsize=(15,5))\n",
" ax = fig.add_subplot()\n",
" ax.hist(1/pub_time_diff)\n",
" ax.set_xlabel(\"Publication Frequency [Hz]\")\n",
" ax.set_ylabel(\"#Publications\")\n",
" ax.set_title(f\"{node_path} =({v['frequency']:.2f}Hz)=> {topic_name}\")\n",
" plt.savefig(os.path.join(fig_dirname, f\"{i:06}{node_path}__{topic_name}\".replace('/','-')))\n"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Data Flow Graph"
]
},
{
"cell_type": "code",
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"execution_count": null,
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"metadata": {
"scrolled": false
},
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"outputs": [],
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"source": [
"node_filters = [\"transform_listener_impl\", \"_monitor\"]\n",
"topic_filters = [\"/rosout\", \"/parameter_events\", \"/diagnostics\"]\n",
"\n",
"from pyvis.network import Network\n",
"net = Network(notebook=True, height='750px', width='100%', bgcolor='#ffffff', font_color='#000000')\n",
"\n",
"net.add_node(\"INPUT\", label=\"Input\", size=100, color=\"green\", physics=False, x=0, y=0)\n",
"net.add_node(\"OUTPUT\", label=\"Output\", size=100, color=\"red\", physics=False, x=6000, y=0)\n",
"\n",
"\n",
"for node in nodes.values():\n",
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" if any(f in node.path for f in node_filters): \n",
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" continue\n",
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" net.add_node(node.id, label=node.name, title=node.path, size=20, color=\"#333\")\n",
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"\n",
"for cohort_key, cohort_topics in topic_cohorts.items():\n",
" cohort_topic_names = [topic.name for topic in cohort_topics if not any(f in topic.name for f in topic_filters)]\n",
" if not cohort_topic_names: \n",
" continue\n",
" cohort_id=\"\\n\".join(cohort_topic_names)\n",
" cohort_weight=len(cohort_topic_names)\n",
" net.add_node(cohort_id, label=\" \", title=cohort_id, size=5, color=\"#333\")\n",
" \n",
" pubs = cohort_key[0]\n",
" subs = cohort_key[1]\n",
" n_pubs = len(pubs)\n",
" n_subs = len(subs)\n",
" \n",
" try:\n",
" if not n_pubs:\n",
" net.add_edge(\"INPUT\", cohort_id, arrows=\"to\", color=\"green\", weight=cohort_weight)\n",
" if not n_subs:\n",
" net.add_edge(cohort_id, \"OUTPUT\", arrows=\"to\", color=\"red\", weight=cohort_weight)\n",
"\n",
" for pub in pubs:\n",
" net.add_edge(pub, cohort_id, arrows=\"to\", color=\"green\", weight=cohort_weight)\n",
" for sub in subs:\n",
" net.add_edge(cohort_id, sub, arrows=\"to\", color=\"red\", weight=cohort_weight)\n",
" except:\n",
" continue\n",
"\n",
"net.toggle_physics(True)\n",
"net.show_buttons()\n",
"net.show(\"graph.html\")"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Pub-Use Latencies\n",
"Compute for each node and its data dependencies the list of pub-use delays (per-topic-per-node list of pub-use delays)"
]
},
{
"cell_type": "code",
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"execution_count": 107,
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"metadata": {},
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"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"/launch_ros_9807 has 0 timer callbacks, 0 subscription callbacks, 0 subscribed topics.\n",
"/system/system_monitor/system_monitor/system_monitor_container has 0 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/robot_state_publisher has 0 timer callbacks, 2 subscription callbacks, 2 subscribed topics.\n",
"/system/system_error_monitor has 1 timer callbacks, 5 subscription callbacks, 5 subscribed topics.\n",
"/aggregator_node has 1 timer callbacks, 2 subscription callbacks, 2 subscribed topics.\n",
"/system/emergency_handler has 1 timer callbacks, 6 subscription callbacks, 5 subscribed topics.\n",
"/map/map_container has 0 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/system/ad_service_state_monitor has 2 timer callbacks, 5 subscription callbacks, 15 subscribed topics.\n",
"/system/transform_listener_impl_aaaab90b38b0 has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/planning/mission_planning/mission_planning_container has 0 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/planning/scenario_planning/scenario_selector has 1 timer callbacks, 6 subscription callbacks, 6 subscribed topics.\n",
"/planning/scenario_planning/external_velocity_limit_selector has 0 timer callbacks, 4 subscription callbacks, 4 subscribed topics.\n",
"/planning/scenario_planning/transform_listener_impl_aaaad6cbbcb8 has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/planning/scenario_planning/motion_velocity_smoother has 0 timer callbacks, 4 subscription callbacks, 4 subscribed topics.\n",
"/planning/scenario_planning/transform_listener_impl_aaaaf1071f80 has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container has 0 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container has 0 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/planning/scenario_planning/parking/parking_container has 0 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/planning/planning_diagnostics/planning_error_monitor has 2 timer callbacks, 2 subscription callbacks, 2 subscribed topics.\n",
"/control/control_container has 0 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/system/system_monitor/cpu_monitor has 1 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/control/trajectory_follower/lateral_controller_node_exe has 1 timer callbacks, 4 subscription callbacks, 4 subscribed topics.\n",
"/system/system_monitor/hdd_monitor has 2 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner has 0 timer callbacks, 5 subscription callbacks, 5 subscribed topics.\n",
"/planning/scenario_planning/lane_driving/motion_planning/transform_listener_impl_aaaaf153e160 has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/control/transform_listener_impl_aaaaf51e51c0 has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/map/map_hash_generator has 0 timer callbacks, 0 subscription callbacks, 0 subscribed topics.\n",
"/system/system_monitor/mem_monitor has 1 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/map/lanelet2_map_loader has 0 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/system/system_monitor/net_monitor has 1 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/map/lanelet2_map_visualization has 0 timer callbacks, 2 subscription callbacks, 2 subscribed topics.\n",
"/system/system_monitor/ntp_monitor has 1 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/planning/mission_planning/mission_planner has 0 timer callbacks, 4 subscription callbacks, 4 subscribed topics.\n",
"/system/system_monitor/process_monitor has 1 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/planning/mission_planning/transform_listener_impl_aaab0bafc440 has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/control/trajectory_follower/longitudinal_controller_node_exe has 1 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/planning/mission_planning/goal_pose_visualizer has 0 timer callbacks, 2 subscription callbacks, 2 subscribed topics.\n",
"/system/system_monitor/gpu_monitor has 1 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/control/transform_listener_impl_aaaaf52d4c30 has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/map/pointcloud_map_loader has 0 timer callbacks, 1 subscription callbacks, 1 subscribed topics.\n",
"/control/external_cmd_selector has 2 timer callbacks, 9 subscription callbacks, 9 subscribed topics.\n",
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner has 1 timer callbacks, 9 subscription callbacks, 9 subscribed topics.\n",
"/planning/scenario_planning/lane_driving/behavior_planning/transform_listener_impl_ffff200c66b0 has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/control/external_cmd_converter has 2 timer callbacks, 6 subscription callbacks, 6 subscribed topics.\n",
"/planning/scenario_planning/parking/costmap_generator has 1 timer callbacks, 5 subscription callbacks, 5 subscribed topics.\n",
"/planning/scenario_planning/parking/transform_listener_impl_aaaaf521b848 has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/control/trajectory_follower/latlon_muxer_node_exe has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/control/trajectory_follower/lane_departure_checker_node has 2 timer callbacks, 6 subscription callbacks, 6 subscribed topics.\n",
"/control/transform_listener_impl_aaaaf55ae730 has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/map/map_tf_generator has 0 timer callbacks, 2 subscription callbacks, 2 subscribed topics.\n",
"/_ros2cli_9870 has 0 timer callbacks, 0 subscription callbacks, 0 subscribed topics.\n",
"/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker has 1 timer callbacks, 4 subscription callbacks, 4 subscribed topics.\n",
"/planning/scenario_planning/lane_driving/motion_planning/transform_listener_impl_ffff5c00c708 has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner has 0 timer callbacks, 6 subscription callbacks, 6 subscribed topics.\n",
"/planning/scenario_planning/lane_driving/motion_planning/transform_listener_impl_ffff3400eba0 has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/planning/scenario_planning/parking/freespace_planner has 1 timer callbacks, 5 subscription callbacks, 5 subscribed topics.\n",
"/planning/scenario_planning/parking/transform_listener_impl_aaaaf5695dc0 has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n",
"/control/shift_decider has 1 timer callbacks, 2 subscription callbacks, 2 subscribed topics.\n",
"/control/vehicle_cmd_gate has 2 timer callbacks, 17 subscription callbacks, 17 subscribed topics.\n",
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner has 0 timer callbacks, 13 subscription callbacks, 13 subscribed topics.\n",
"/planning/scenario_planning/lane_driving/behavior_planning/transform_listener_impl_ffff24598628 has 0 timer callbacks, 3 subscription callbacks, 3 subscribed topics.\n"
]
}
],
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"source": [
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"def filter_none(ls):\n",
" return filter(lambda x: x is not None, ls)\n",
"\n",
"def safe_map(func, ls):\n",
" def safe_func(arg):\n",
" try:\n",
" return func(arg)\n",
" except:\n",
" return None\n",
" \n",
" return map(safe_func, ls)\n",
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"\n",
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"pub_use_delays = {node.id: {\n",
" 'pubs': {}, \n",
" 'invocations': {}, \n",
" 'n_unknown_invocations': 0, \n",
" 'n_pub_timestamps': 0\n",
" } for node in nodes.values()}\n",
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"\n",
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"for node in nodes.values():\n",
" node_pub_use_dict = pub_use_delays[node.id]\n",
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" timestamp_min = np.inf; timestamp_max = 0\n",
"\n",
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" n_pub_timestamps = 0\n",
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" for sub in node.subscriptions:\n",
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" node_pub_use_dict['pubs'][sub.topic_name] = {}\n",
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" for pub in sub.publishers:\n",
" pub_timestamps = [inst.timestamp for inst in pub.instances]\n",
"\n",
" try:\n",
" pub_t_min = min(pub_timestamps); pub_t_max = max(pub_timestamps)\n",
" except ValueError:\n",
" pub_t_min = np.inf; pub_t_max = 0\n",
" \n",
" if pub_t_min < timestamp_min: timestamp_min = pub_t_min\n",
" if pub_t_max > timestamp_max: timestamp_max = pub_t_max\n",
"\n",
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" node_pub_use_dict['pubs'][sub.topic_name][pub.node.path] = pub_timestamps\n",
" node_pub_use_dict['n_pub_timestamps'] += len(pub_timestamps)\n",
"\n",
" timer_cb_objs = list(filter_none(safe_map(lambda timer: timer.callback_object, node.timers)))\n",
" subsc_cb_objs = list(filter_none(safe_map(lambda subsc: subsc.subscription_object.callback_object, node.subscriptions)))\n",
"\n",
" print(f\"{node.path:95s} has {len(timer_cb_objs):1d} timer callbacks, {len(subsc_cb_objs):2d} subscription callbacks, {len(node_pub_use_dict['pubs']):2d} subscribed topics.\")\n",
"\n",
" node_invocations = node_pub_use_dict['invocations']\n",
"\n",
" for cb_obj in timer_cb_objs + subsc_cb_objs:\n",
" cb_invocations = []\n",
" for inst in cb_obj.callback_instances:\n",
" cb_invocations.append((inst.timestamp, inst.duration))\n",
"\n",
" node_invocations[cb_obj.id] = cb_invocations"
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]
},
{
"cell_type": "code",
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"execution_count": 117,
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"metadata": {},
"outputs": [
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{
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"name": "stdout",
"output_type": "stream",
"text": [
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"Ignoring 0 nodes due to filters.\n",
"/launch_ros_9807 has no invocations, skipping.\n"
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]
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},
{
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"name": "stderr",
"output_type": "stream",
"text": [
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"<ipython-input-117-38f5f659767b>:26: RuntimeWarning: More than 20 figures have been opened. Figures created through the pyplot interface (`matplotlib.pyplot.figure`) are retained until explicitly closed and may consume too much memory. (To control this warning, see the rcParam `figure.max_open_warning`).\n",
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" fig = plt.figure(figsize=(15,5))\n"
]
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},
{
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"name": "stdout",
"output_type": "stream",
"text": [
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"/map/map_hash_generator has no invocations, skipping.\n",
"/_ros2cli_9870 has no invocations, skipping.\n"
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]
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},
{
"data": {
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
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},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
"image/png": "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
2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
"image/png": "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
2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
"image/png": "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
2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
"image/png": "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
2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
"image/png": "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
2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
"image/png": "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
2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
"image/png": "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
2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
"image/png": "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
2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
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2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
"image/png": "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
2022-05-23 13:03:38 +02:00
"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
2022-05-24 20:35:30 +02:00
"image/png": "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"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
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"image/png": "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"text/plain": [
"<Figure size 1080x360 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
}
],
"source": [
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"from matplotlib import cm\n",
"\n",
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"fig_dirname = \"fig_pub_use\"\n",
"os.makedirs(fig_dirname, exist_ok=True)\n",
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"plt.close('all')\n",
"\n",
"node_filters=[]#\"transform_listener_impl\",]\n",
"\n",
"nodes_filtered = [node for node in nodes.values() if not any(f in node.path for f in node_filters)]\n",
"print(f\"Ignoring {len(nodes.values()) - len(nodes_filtered)} nodes due to filters.\")\n",
"\n",
"common_offset = min(map(lambda cb_inst: cb_inst.timestamp.timestamp(), callback_instances))\n",
"\n",
"zero_color = cm.get_cmap('viridis')(0.0)\n",
"\n",
"for node_i, (node, node_path, node_pub_use_dict) in enumerate(map(lambda node: (node, node.path, pub_use_delays[node.id]), nodes_filtered)):\n",
"\n",
" if not node_pub_use_dict['invocations']:\n",
" print(f\"{node_path:95s} has no invocations, skipping.\")\n",
" continue\n",
"\n",
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" if len(node_pub_use_dict['pubs']) == 0:\n",
" print(f\"Skipping {node_path}, no publications\")\n",
" continue\n",
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"\n",
" fig = plt.figure(figsize=(15,5))\n",
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" ax: plt.Axes = fig.add_subplot()\n",
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"\n",
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" max_pubs_per_topic = max(len(pubs) for pubs in node_pub_use_dict['pubs'].values())\n",
" topic_names, topic_pubs = (zip(*node_pub_use_dict['pubs'].items()))\n",
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"\n",
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" vmin = 0; vmax = max_pubs_per_topic\n",
"\n",
" y_labels = []\n",
" current_y = 0\n",
"\n",
" for invoc_i, (cb_obj_id, cb_invocations) in enumerate(node_pub_use_dict['invocations'].items()):\n",
" try:\n",
" cb_obj = callback_objects[cb_obj_id]\n",
" sym = callback_symbols[cb_obj.callback_object].symbol\n",
" sym = util._prettify(sym)\n",
" sym = re.sub(r\"std::shared_ptr<(.*?)>\", r\"\\1*\", sym)\n",
"\n",
" cb_owner = cb_obj.owner\n",
" if isinstance(cb_owner, Timer):\n",
" cb_type = \"T\"\n",
" elif isinstance(cb_owner, SubscriptionObject):\n",
" cb_type = \"S\"\n",
" except KeyError or AttributeError:\n",
" sym = \"UNKNOWN\"\n",
" cb_type = \"U\"\n",
" \n",
" y_labels.append(f\"{sym} {cb_type}\")\n",
" n_markers = len(cb_invocations)\n",
"\n",
" points_x = []; points_y = []\n",
" for time, dur in cb_invocations:\n",
" time = time.timestamp() - common_offset; dur = dur.total_seconds()\n",
" points_x += [time, time+dur, None]\n",
" points_y += [current_y, current_y, 0.0]\n",
" \n",
" ax.plot(points_x,points_y, marker='.', c=zero_color)\n",
" current_y += 1\n",
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"\n",
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" n_cbs = current_y\n",
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"\n",
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" for topic_i, (topic_name, pubs) in enumerate(zip(topic_names, topic_pubs)):\n",
" for pub_i, (pub_name, timestamps) in enumerate(pubs.items()):\n",
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" n_markers = len(timestamps)\n",
" ax.scatter(np.array(timestamps)*1e-9 - common_offset, (current_y,) * n_markers, marker='.', c=(pub_i,) * n_markers, vmin=vmin, vmax=vmax)\n",
" \n",
" y_labels.append(topic_name)\n",
" current_y += 1\n",
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" \n",
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" trigger_strs = []\n",
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" t = node.timers\n",
" if t:\n",
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" n_timers = len(t)\n",
" freqs = map(lambda timer: 1 / (timer.period*1e-9), t)\n",
" trigger_strs.append(f\"{n_timers} timer{'s' if n_timers != 1 else ''}, {'Hz, '.join((f'{freq:.0f}' for freq in freqs))}Hz\")\n",
" if node.subscriptions:\n",
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" n_subs = len(node.subscriptions)\n",
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" trigger_strs.append(f\"{n_subs} subscription{'s' if n_subs != 1 else ''}\")\n",
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"\n",
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" ax.set_xlabel(\"Publication / Invocation Timestamp [s]\")\n",
" ax.set_ylabel(\"Topic\")\n",
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" ax.set_yticks(range(current_y))\n",
" ax.set_yticklabels(y_labels)\n",
" ax.set_ylim(0 - .1, current_y - 1 + .1)\n",
" ax.set_title(f\"{node_path} ({'; '.join(trigger_strs)})\")\n",
" ax.set_xlim(50, 50.25)\n",
"\n",
" ax.hlines(n_cbs - 0.5, *ax.get_xlim(), linestyles='dashed')\n",
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" plt.savefig(os.path.join(fig_dirname, f\"{node_i:06}{node_path}\".replace('/','-')))"
2022-05-23 13:03:38 +02:00
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
"interpreter": {
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"kernelspec": {
"display_name": "Python 3",
"language": "python",
"name": "python3"
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