From 7d3e957ed9c7c2c2faff539c410f4719724ac2c7 Mon Sep 17 00:00:00 2001
From: Maximilian Schmeller <m.schmeller@tum.de>
Date: Thu, 15 Sep 2022 15:26:32 +0200
Subject: [PATCH] Clean accidental output in notebook, remove ProgressPrinter
 (obsolete)

---
 misc/utils.py        |   34 +-
 trace-analysis.ipynb | 7625 ++----------------------------------------
 2 files changed, 261 insertions(+), 7398 deletions(-)

diff --git a/misc/utils.py b/misc/utils.py
index 1490ce4..5e65d4e 100644
--- a/misc/utils.py
+++ b/misc/utils.py
@@ -1,15 +1,11 @@
-import base64
-import glob
 import hashlib
 import json
-import math
 import os
 import pickle
-import time
 from typing import List
 
-from IPython.core.magic import (register_cell_magic, needs_local_scope)
 from IPython import get_ipython
+from IPython.core.magic import (register_cell_magic, needs_local_scope)
 
 
 @register_cell_magic
@@ -26,33 +22,6 @@ def left_abbreviate(string, limit=120):
     return string if len(string) <= limit else f"...{string[:limit - 3]}"
 
 
-class ProgressPrinter:
-    def __init__(self, verb, n) -> None:
-        self.verb = verb
-        self.n = n
-        self.i = 0
-        self.fmt_len = math.ceil(math.log10(n if n > 0 else 1))
-
-    def step(self, msg):
-        self.i += 1
-        print(f"({self.i:>{self.fmt_len}d}/{self.n}) {self.verb} {left_abbreviate(msg):<120}", end="\r")
-
-    def __enter__(self):
-        return self
-
-    def __exit__(self, exc_type, exc_value, exc_traceback):
-        self.i -= 1
-
-        if exc_value:
-            self.step("error.")
-            print()
-            print(exc_value)
-            return
-
-        self.step("done.")
-        print()
-
-
 def stable_hash(obj):
     return hashlib.md5(json.dumps(obj).encode("utf-8")).hexdigest()[:10]
 
@@ -65,6 +34,7 @@ def parse_as(type, string):
         return type(val)
     raise ValueError(f"Unknown type {type.__name__}")
 
+
 def cached(name, function, file_deps: List[str]):
     if not os.path.isdir("cache"):
         os.makedirs("cache", exist_ok=True)
diff --git a/trace-analysis.ipynb b/trace-analysis.ipynb
index 4fdf9cc..a57a1bc 100644
--- a/trace-analysis.ipynb
+++ b/trace-analysis.ipynb
@@ -2,12 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 1,
-   "metadata": {
-    "pycharm": {
-     "name": "#%%\n"
-    }
-   },
+   "execution_count": null,
    "outputs": [],
    "source": [
     "import glob\n",
@@ -25,16 +20,17 @@
     "\n",
     "%load_ext pyinstrument\n",
     "%matplotlib inline"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 43,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
    "outputs": [],
    "source": [
     "##################################################\n",
@@ -141,16 +137,17 @@
     "CL_PATH = _expand_path(CL_PATH)\n",
     "\n",
     "os.makedirs(OUT_PATH, exist_ok=True)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 3,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
    "outputs": [],
    "source": [
     "from clang_interop.cl_types import ClContext\n",
@@ -165,37 +162,30 @@
     "\n",
     "from tracing_interop.tr_types import TrTimer, TrTopic, TrPublisher, TrPublishInstance, TrCallbackInstance, \\\n",
     "TrCallbackSymbol, TrCallbackObject, TrSubscriptionObject, TrContext"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "pycharm": {
-     "name": "#%% md\n"
-    }
-   },
-   "source": [
-    "# Organize Trace Data"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 4,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "[CACHE] Found up-to-date cache entry (cache/tr_objects_507fec94db.pkl) for tr_objects, loading.\n",
-      "Done.\n"
-     ]
-    }
+   }
+  },
+  {
+   "cell_type": "markdown",
+   "source": [
+    "# Organize Trace Data"
    ],
+   "metadata": {
+    "collapsed": false,
+    "pycharm": {
+     "name": "#%% md\n"
+    }
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "outputs": [],
    "source": [
     "def _load_traces():\n",
     "    file = load_file(TR_PATH)\n",
@@ -214,86 +204,46 @@
     "    globals()[name] = getattr(_tracing_context, name)\n",
     "\n",
     "print(\"Done.\")"
-   ]
+   ],
+   "metadata": {
+    "collapsed": false,
+    "pycharm": {
+     "name": "#%%\n"
+    }
+   }
   },
   {
    "cell_type": "code",
-   "execution_count": 42,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "/control/external_cmd_selector/current_selector_mode\n",
-      "/system/emergency/control_cmd\n",
-      "/control/command/hazard_lights_cmd\n",
-      "/control/command/turn_indicators_cmd\n",
-      "/api/external/set/command/local/control\n",
-      "/control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw\n",
-      "/control/command/control_cmd\n",
-      "/api/iv_msgs/vehicle/status/control_mode\n",
-      "/control/trajectory_follower/control_cmd\n",
-      "/api/external/set/command/remote/control\n",
-      "/control/trajectory_follower/lateral/diagnostic\n",
-      "/control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw_deg\n",
-      "/control/trajectory_follower/lane_departure_checker_node/debug/deviation/lateral\n",
-      "/control/vehicle_cmd_gate/operation_mode\n",
-      "/control/trajectory_follower/longitudinal/slope_angle\n",
-      "/vehicle/status/control_mode\n",
-      "/external/selected/external_control_cmd\n",
-      "/control/is_autonomous_available\n",
-      "/control/trajectory_follower/lane_departure_checker_node/debug/processing_time_ms\n",
-      "/control/operation_mode\n",
-      "/control/trajectory_follower/lane_departure_checker_node/debug/marker_array\n",
-      "/external/selected/control_cmd\n",
-      "/control/operation_mode_transition_manager/debug_info\n",
-      "/control/trajectory_follower/lateral/predicted_trajectory\n",
-      "/control/shift_decider/gear_cmd\n",
-      "/control/command/emergency_cmd\n",
-      "/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control/debug_values\n",
-      "/control/current_gate_mode\n",
-      "/api/external/get/command/selected/control\n",
-      "/control/command/gear_cmd\n",
-      "/control/gate_mode_cmd\n",
-      "/control/trajectory_follower/longitudinal/diagnostic\n"
-     ]
-    }
-   ],
+   "execution_count": null,
+   "outputs": [],
    "source": [
     "for t in topics:\n",
     "    if \"control\" in t.name:\n",
     "        print(t.name)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "pycharm": {
-     "name": "#%% md\n"
-    }
-   },
-   "source": [
-    "# E2E Latency Calculation"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 5,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "[CACHE] Found up-to-date cache entry (cache/lat_graph_507fec94db.pkl) for lat_graph, loading.\n"
-     ]
-    }
+   }
+  },
+  {
+   "cell_type": "markdown",
+   "source": [
+    "# E2E Latency Calculation"
    ],
+   "metadata": {
+    "collapsed": false,
+    "pycharm": {
+     "name": "#%% md\n"
+    }
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "outputs": [],
    "source": [
     "from latency_graph import latency_graph as lg\n",
     "\n",
@@ -301,5693 +251,18 @@
     "    return lg.LatencyGraph(_tracing_context)\n",
     "\n",
     "lat_graph = cached(\"lat_graph\", _make_latency_graph, [TR_PATH])"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 6,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "  Processing INPUT: 1\n",
-      "  Processing OUTPUT: 1\n",
-      "  Processing simulation: 0\n",
-      "    Processing openscenario_visualizer: 2\n",
-      "    Processing simple_sensor_simulator: 1\n",
-      "    Processing openscenario_interpreter: 19\n",
-      "    Processing concealer: 22\n",
-      "  Processing system: 0\n",
-      "    Processing system_monitor: 0\n",
-      "      Processing system_monitor: 0\n",
-      "        Processing system_monitor_container: 1\n",
-      "      Processing cpu_monitor: 2\n",
-      "      Processing hdd_monitor: 3\n",
-      "      Processing mem_monitor: 2\n",
-      "      Processing net_monitor: 2\n",
-      "      Processing ntp_monitor: 2\n",
-      "      Processing process_monitor: 3\n",
-      "      Processing gpu_monitor: 2\n",
-      "    Processing emergency_handler: 7\n",
-      "    Processing system_error_monitor: 6\n",
-      "    Processing ad_service_state_monitor: 9\n",
-      "    Processing transform_listener_impl_5640698e3b70: 3\n",
-      "  Processing map: 0\n",
-      "    Processing map_container: 1\n",
-      "    Processing lanelet2_map_loader: 1\n",
-      "    Processing lanelet2_map_visualization: 2\n",
-      "    Processing pointcloud_map_loader: 1\n",
-      "    Processing vector_map_tf_generator: 2\n",
-      "  Processing planning: 0\n",
-      "    Processing mission_planning: 0\n",
-      "      Processing mission_planning_container: 1\n",
-      "      Processing mission_planner: 4\n",
-      "      Processing transform_listener_impl_55f81237fb00: 3\n",
-      "      Processing goal_pose_visualizer: 2\n",
-      "    Processing scenario_planning: 0\n",
-      "      Processing lane_driving: 0\n",
-      "        Processing behavior_planning: 0\n",
-      "          Processing rtc_auto_approver: 13\n",
-      "          Processing behavior_planning_container: 1\n",
-      "          Processing behavior_path_planner: 9\n",
-      "          Processing transform_listener_impl_7ff5980c97d0: 3\n",
-      "          Processing behavior_velocity_planner: 13\n",
-      "          Processing transform_listener_impl_7ff5705c51f8: 3\n",
-      "        Processing motion_planning: 0\n",
-      "          Processing motion_planning_container: 1\n",
-      "          Processing obstacle_avoidance_planner: 5\n",
-      "          Processing transform_listener_impl_7fbc48096dc0: 3\n",
-      "          Processing obstacle_stop_planner: 6\n",
-      "          Processing transform_listener_impl_7fbc54027818: 3\n",
-      "          Processing surround_obstacle_checker: 6\n",
-      "          Processing transform_listener_impl_7fbc6000af58: 3\n",
-      "      Processing scenario_selector: 8\n",
-      "      Processing external_velocity_limit_selector: 4\n",
-      "      Processing transform_listener_impl_55de7185f3b8: 3\n",
-      "      Processing parking: 0\n",
-      "        Processing parking_container: 1\n",
-      "        Processing costmap_generator: 6\n",
-      "        Processing transform_listener_impl_559279168428: 3\n",
-      "        Processing freespace_planner: 6\n",
-      "        Processing transform_listener_impl_5592795af670: 3\n",
-      "      Processing motion_velocity_smoother: 4\n",
-      "      Processing transform_listener_impl_5625d002bd30: 3\n",
-      "    Processing planning_diagnostics: 0\n",
-      "      Processing planning_error_monitor: 4\n",
-      "  Processing aggregator_node: 3\n",
-      "  Processing robot_state_publisher: 2\n",
-      "  Processing control: 0\n",
-      "    Processing control_container: 1\n",
-      "    Processing trajectory_follower: 0\n",
-      "      Processing controller_node_exe: 5\n",
-      "      Processing lane_departure_checker_node: 8\n",
-      "    Processing transform_listener_impl_56044e5ef540: 3\n",
-      "    Processing transform_listener_impl_56044e64ced0: 3\n",
-      "    Processing external_cmd_selector: 11\n",
-      "    Processing external_cmd_converter: 8\n",
-      "    Processing transform_listener_impl_56044e7e8a60: 3\n",
-      "    Processing shift_decider: 3\n",
-      "    Processing vehicle_cmd_gate: 21\n",
-      "    Processing operation_mode_transition_manager: 7\n",
-      "  Processing awapi: 0\n",
-      "    Processing awapi_relay_container: 1\n",
-      "    Processing awapi_awiv_adapter_node: 28\n",
-      "    Processing transform_listener_impl_555fb141cf58: 3\n",
-      "    Processing route_relay: 2\n",
-      "    Processing predict_object_relay: 2\n",
-      "    Processing nearest_traffic_signal_relay: 2\n",
-      "    Processing ready_module_relay: 2\n",
-      "    Processing force_available_relay: 2\n",
-      "    Processing running_modules_relay: 2\n",
-      "    Processing autoware_engage_relay: 2\n",
-      "    Processing vehicle_engage_relay: 2\n",
-      "    Processing put_route_relay: 2\n",
-      "    Processing put_goal_relay: 2\n",
-      "    Processing lane_change_approval_relay: 2\n",
-      "    Processing force_lane_change_relay: 2\n",
-      "    Processing external_approval_relay: 2\n",
-      "    Processing force_approval_relay: 2\n",
-      "    Processing obstacle_avoid_approval_relay: 2\n",
-      "    Processing traffic_signal_relay: 2\n",
-      "    Processing overwrite_traffic_signals_relay: 2\n",
-      "    Processing speed_exceeded_relay: 2\n",
-      "    Processing crosswalk_status_relay: 2\n",
-      "    Processing intersection_status_relay: 2\n",
-      "    Processing expand_stop_range_relay: 2\n",
-      "    Processing pose_initialization_request_relay: 2\n",
-      "  Processing autoware_api: 0\n",
-      "    Processing external: 0\n",
-      "      Processing autoware_iv_adaptor: 1\n",
-      "      Processing cpu_usage: 2\n",
-      "      Processing start: 2\n",
-      "      Processing diagnostics: 2\n",
-      "      Processing door: 2\n",
-      "      Processing emergency: 2\n",
-      "      Processing engage: 3\n",
-      "      Processing fail_safe_state: 2\n",
-      "      Processing initial_pose: 1\n",
-      "      Processing map: 2\n",
-      "      Processing operator: 3\n",
-      "      Processing metadata_packages: 1\n",
-      "      Processing route: 3\n",
-      "      Processing service: 1\n",
-      "      Processing vehicle_status: 8\n",
-      "      Processing velocity: 1\n",
-      "      Processing version: 1\n",
-      "    Processing internal: 0\n",
-      "      Processing traffic_signals: 2\n",
-      "      Processing autoware_iv_adaptor: 1\n",
-      "      Processing intersection_states: 2\n",
-      "      Processing initial_pose_2d: 2\n",
-      "      Processing crosswalk_states: 2\n",
-      "      Processing initial_pose: 1\n",
-      "      Processing iv_msgs: 6\n",
-      "      Processing operator: 5\n",
-      "      Processing route: 2\n",
-      "      Processing velocity: 2\n",
-      "  Processing initial_pose_2d: 2\n",
-      "  Processing fault_injection: 3\n",
-      "  Processing perception: 0\n",
-      "    Processing object_recognition: 0\n",
-      "      Processing tracking: 0\n",
-      "        Processing multi_object_tracker: 2\n",
-      "        Processing transform_listener_impl_55f0d0d59108: 3\n",
-      "      Processing prediction: 0\n",
-      "        Processing map_based_prediction: 3\n",
-      "        Processing transform_listener_impl_560d413e4c40: 3\n",
-      "  Processing rviz2: 56\n",
-      "  Processing rosbag2_player: 1\n",
-      "  Processing transform_listener_impl_563ba1d22770: 2\n",
-      "  Processing transform_listener_impl_563ba1d857c0: 7\n"
-     ]
-    },
-    {
-     "data": {
-      "image/svg+xml": [
-       "<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\"?>\n",
-       "<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 1.1//EN\"\n",
-       " \"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd\">\n",
-       "<!-- Generated by graphviz version 2.43.0 (0)\n",
-       " -->\n",
-       "<!-- Title: G Pages: 1 -->\n",
-       "<svg width=\"15576pt\" height=\"14979pt\"\n",
-       " viewBox=\"0.00 0.00 15576.00 14979.00\" xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">\n",
-       "<g id=\"graph0\" class=\"graph\" transform=\"scale(1 1) rotate(0) translate(4 14975)\">\n",
-       "<title>G</title>\n",
-       "<polygon fill=\"white\" stroke=\"transparent\" points=\"-4,4 -4,-14975 15572,-14975 15572,4 -4,4\"/>\n",
-       "<g id=\"clust1\" class=\"cluster\">\n",
-       "<title>cluster___INPUT</title>\n",
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-       "<text text-anchor=\"middle\" x=\"13042\" y=\"-45.8\" font-family=\"Times,serif\" font-size=\"14.00\">INPUT</text>\n",
-       "</g>\n",
-       "<g id=\"clust2\" class=\"cluster\">\n",
-       "<title>cluster___OUTPUT</title>\n",
-       "<polygon fill=\"#f5f5f5\" stroke=\"#666666\" points=\"13980,0 13980,-61 14077,-61 14077,0 13980,0\"/>\n",
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-       "<g id=\"clust3\" class=\"cluster\">\n",
-       "<title>cluster___simulation</title>\n",
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-       "<g id=\"clust4\" class=\"cluster\">\n",
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-       "</g>\n",
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-       "<g id=\"clust10\" class=\"cluster\">\n",
-       "<title>cluster___system__system_monitor__system_monitor</title>\n",
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-       "</g>\n",
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-       "<text text-anchor=\"start\" x=\"11140\" y=\"-8279.8\" font-family=\"Times,serif\" font-size=\"14.00\">void(motion_planning::ObstacleStopPlannerNode)(nav_msgs::msg::Odometry)</text>\n",
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-      "text/plain": [
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-     },
-     "execution_count": 6,
-     "metadata": {},
-     "output_type": "execute_result"
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-   ],
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "outputs": [],
    "source": [
     "%%skip_if_false DFG_ENABLED\n",
     "%%skip_if_false DFG_PLOT\n",
@@ -6076,1377 +351,18 @@
     "g.render(\"latency_graph.svg\")\n",
     "\n",
     "g"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 7,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\n",
-      "/control/external_cmd_converter, /awapi/awapi_relay_container, /awapi/awapi_awiv_adapter_node, /awapi/route_relay, /awapi/predict_object_relay, /awapi/nearest_traffic_signal_relay, /awapi/ready_module_relay, /awapi/force_available_relay, /awapi/running_modules_relay, /awapi/autoware_engage_relay, /awapi/vehicle_engage_relay, /awapi/put_route_relay, /awapi/put_goal_relay, /awapi/lane_change_approval_relay, /awapi/force_lane_change_relay, /awapi/external_approval_relay, /awapi/force_approval_relay, /awapi/obstacle_avoid_approval_relay, /awapi/traffic_signal_relay, /awapi/overwrite_traffic_signals_relay, /awapi/speed_exceeded_relay, /awapi/crosswalk_status_relay, /awapi/intersection_status_relay, /awapi/expand_stop_range_relay, /awapi/pose_initialization_request_relay\n",
-      "/INPUT, /OUTPUT, /[NONE], /simulation/openscenario_visualizer, /simulation/simple_sensor_simulator, /simulation/openscenario_interpreter, /simulation/concealer, /system/system_monitor/system_monitor/system_monitor_container, /system/system_monitor/cpu_monitor, /system/system_monitor/hdd_monitor, /system/system_monitor/mem_monitor, /system/system_monitor/net_monitor, /system/system_monitor/ntp_monitor, /system/system_monitor/process_monitor, /system/system_monitor/gpu_monitor, /system/emergency_handler, /system/system_error_monitor, /system/ad_service_state_monitor, /map/map_container, /map/lanelet2_map_loader, /map/lanelet2_map_visualization, /map/pointcloud_map_loader, /map/vector_map_tf_generator, /planning/mission_planning/mission_planning_container, /planning/mission_planning/mission_planner, /planning/mission_planning/goal_pose_visualizer, /planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver, /planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container, /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner, /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner, /planning/scenario_planning/lane_driving/motion_planning/motion_planning_container, /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner, /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner, /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker, /planning/scenario_planning/scenario_selector, /planning/scenario_planning/external_velocity_limit_selector, /planning/scenario_planning/parking/parking_container, /planning/scenario_planning/parking/costmap_generator, /planning/scenario_planning/parking/freespace_planner, /planning/scenario_planning/motion_velocity_smoother, /planning/planning_diagnostics/planning_error_monitor, /aggregator_node, /robot_state_publisher, /control/control_container, /control/trajectory_follower/controller_node_exe, /control/trajectory_follower/lane_departure_checker_node, /control/external_cmd_selector, /control/external_cmd_converter, /control/shift_decider, /control/vehicle_cmd_gate, /control/operation_mode_transition_manager, /awapi/awapi_relay_container, /awapi/awapi_awiv_adapter_node, /awapi/route_relay, /awapi/predict_object_relay, /awapi/nearest_traffic_signal_relay, /awapi/ready_module_relay, /awapi/force_available_relay, /awapi/running_modules_relay, /awapi/autoware_engage_relay, /awapi/vehicle_engage_relay, /awapi/put_route_relay, /awapi/put_goal_relay, /awapi/lane_change_approval_relay, /awapi/force_lane_change_relay, /awapi/external_approval_relay, /awapi/force_approval_relay, /awapi/obstacle_avoid_approval_relay, /awapi/traffic_signal_relay, /awapi/overwrite_traffic_signals_relay, /awapi/speed_exceeded_relay, /awapi/crosswalk_status_relay, /awapi/intersection_status_relay, /awapi/expand_stop_range_relay, /awapi/pose_initialization_request_relay, /autoware_api/external/autoware_iv_adaptor, /autoware_api/external/cpu_usage, /autoware_api/external/start, /autoware_api/external/diagnostics, /autoware_api/external/door, /autoware_api/external/emergency, /autoware_api/external/engage, /autoware_api/external/fail_safe_state, /autoware_api/external/initial_pose, /autoware_api/external/map, /autoware_api/external/operator, /autoware_api/external/metadata_packages, /autoware_api/external/route, /autoware_api/external/service, /autoware_api/external/vehicle_status, /autoware_api/external/velocity, /autoware_api/external/version, /autoware_api/internal/traffic_signals, /autoware_api/internal/autoware_iv_adaptor, /autoware_api/internal/intersection_states, /autoware_api/internal/initial_pose_2d, /autoware_api/internal/crosswalk_states, /autoware_api/internal/initial_pose, /autoware_api/internal/iv_msgs, /autoware_api/internal/operator, /autoware_api/internal/route, /autoware_api/internal/velocity, /initial_pose_2d, /fault_injection, /perception/object_recognition/tracking/multi_object_tracker, /perception/object_recognition/prediction/map_based_prediction, /rosbag2_player\n",
-      "/control/vehicle_cmd_gate /autoware_api/external/emergency 1\n",
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-      "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner /control/vehicle_cmd_gate 2\n",
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-      "/perception/object_recognition/prediction/map_based_prediction /planning/scenario_planning/parking/costmap_generator 1\n",
-      "/perception/object_recognition/prediction/map_based_prediction /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner 1\n",
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-      "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner /planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver 6\n",
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-      "/control/vehicle_cmd_gate /autoware_api/internal/operator 2\n",
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-      "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner 1\n",
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-       "<!-- /autoware_api/internal/intersection_states -->\n",
-       "<g id=\"node95\" class=\"node\">\n",
-       "<title>/autoware_api/internal/intersection_states</title>\n",
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-       "</g>\n",
-       "<!-- /autoware_api/internal/initial_pose_2d -->\n",
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-       "</g>\n",
-       "<!-- /autoware_api/internal/crosswalk_states -->\n",
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-       "</g>\n",
-       "<!-- /autoware_api/internal/initial_pose -->\n",
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-       "</g>\n",
-       "<!-- /autoware_api/internal/iv_msgs&#45;&gt;/awapi/awapi_awiv_adapter_node -->\n",
-       "<g id=\"edge92\" class=\"edge\">\n",
-       "<title>/autoware_api/internal/iv_msgs&#45;&gt;/awapi/awapi_awiv_adapter_node</title>\n",
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-       "</g>\n",
-       "<!-- /autoware_api/internal/operator&#45;&gt;/autoware_api/external/operator -->\n",
-       "<g id=\"edge16\" class=\"edge\">\n",
-       "<title>/autoware_api/internal/operator&#45;&gt;/autoware_api/external/operator</title>\n",
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-       "</g>\n",
-       "<!-- /autoware_api/internal/route&#45;&gt;/autoware_api/external/route -->\n",
-       "<g id=\"edge34\" class=\"edge\">\n",
-       "<title>/autoware_api/internal/route&#45;&gt;/autoware_api/external/route</title>\n",
-       "<path fill=\"none\" stroke=\"tomato\" stroke-width=\"0.2\" d=\"M3781.18,-740.89C4085.82,-738.4 4970.91,-735.34 5705,-774 6145.94,-797.22 6667.88,-852.31 6899.24,-878.16\"/>\n",
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-       "</g>\n",
-       "<!-- /autoware_api/internal/velocity -->\n",
-       "<g id=\"node102\" class=\"node\">\n",
-       "<title>/autoware_api/internal/velocity</title>\n",
-       "<polygon fill=\"#f5f5f5\" stroke=\"#666666\" points=\"4165,-2304 3928,-2304 3928,-2268 4165,-2268 4165,-2304\"/>\n",
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-       "</g>\n",
-       "<!-- /initial_pose_2d -->\n",
-       "<g id=\"node103\" class=\"node\">\n",
-       "<title>/initial_pose_2d</title>\n",
-       "<polygon fill=\"#f5f5f5\" stroke=\"#666666\" points=\"4879,-2136 4752,-2136 4752,-2100 4879,-2100 4879,-2136\"/>\n",
-       "<text text-anchor=\"middle\" x=\"4815.5\" y=\"-2114.3\" font-family=\"Times,serif\" font-size=\"14.00\">/initial_pose_2d</text>\n",
-       "</g>\n",
-       "<!-- /fault_injection -->\n",
-       "<g id=\"node104\" class=\"node\">\n",
-       "<title>/fault_injection</title>\n",
-       "<polygon fill=\"#f5f5f5\" stroke=\"#666666\" points=\"4669,-2346 4547,-2346 4547,-2310 4669,-2310 4669,-2346\"/>\n",
-       "<text text-anchor=\"middle\" x=\"4608\" y=\"-2324.3\" font-family=\"Times,serif\" font-size=\"14.00\">/fault_injection</text>\n",
-       "</g>\n",
-       "<!-- /perception/object_recognition/tracking/multi_object_tracker -->\n",
-       "<g id=\"node105\" class=\"node\">\n",
-       "<title>/perception/object_recognition/tracking/multi_object_tracker</title>\n",
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-       "</g>\n",
-       "<!-- /perception/object_recognition/tracking/multi_object_tracker&#45;&gt;/autoware_api/internal/iv_msgs -->\n",
-       "<g id=\"edge28\" class=\"edge\">\n",
-       "<title>/perception/object_recognition/tracking/multi_object_tracker&#45;&gt;/autoware_api/internal/iv_msgs</title>\n",
-       "<path fill=\"none\" stroke=\"tomato\" stroke-width=\"0.2\" d=\"M262.93,-971.83C400.34,-907.73 886.33,-696 1310.5,-696 1310.5,-696 1310.5,-696 6348,-696 6591.4,-696 6699.67,-703.64 6862,-885 6906.57,-934.8 6851.28,-983.22 6898,-1031 6901.46,-1034.54 6905.26,-1037.71 6909.31,-1040.55\"/>\n",
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-       "</g>\n",
-       "<!-- /perception/object_recognition/prediction/map_based_prediction -->\n",
-       "<g id=\"node106\" class=\"node\">\n",
-       "<title>/perception/object_recognition/prediction/map_based_prediction</title>\n",
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-       "</g>\n",
-       "<!-- /perception/object_recognition/tracking/multi_object_tracker&#45;&gt;/perception/object_recognition/prediction/map_based_prediction -->\n",
-       "<g id=\"edge29\" class=\"edge\">\n",
-       "<title>/perception/object_recognition/tracking/multi_object_tracker&#45;&gt;/perception/object_recognition/prediction/map_based_prediction</title>\n",
-       "<path fill=\"none\" stroke=\"tomato\" stroke-width=\"0.2\" d=\"M253.03,-1008.06C337.34,-1062.39 588.57,-1224.3 683.3,-1285.35\"/>\n",
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-       "<!-- /perception/object_recognition/prediction/map_based_prediction&#45;&gt;/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner -->\n",
-       "<g id=\"edge10\" class=\"edge\">\n",
-       "<title>/perception/object_recognition/prediction/map_based_prediction&#45;&gt;/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner</title>\n",
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-       "</g>\n",
-       "<!-- /perception/object_recognition/prediction/map_based_prediction&#45;&gt;/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner -->\n",
-       "<g id=\"edge12\" class=\"edge\">\n",
-       "<title>/perception/object_recognition/prediction/map_based_prediction&#45;&gt;/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner</title>\n",
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-       "<g id=\"edge9\" class=\"edge\">\n",
-       "<title>/perception/object_recognition/prediction/map_based_prediction&#45;&gt;/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner</title>\n",
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-       "<g id=\"edge8\" class=\"edge\">\n",
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-       "<!-- /perception/object_recognition/prediction/map_based_prediction&#45;&gt;/planning/scenario_planning/parking/costmap_generator -->\n",
-       "<g id=\"edge7\" class=\"edge\">\n",
-       "<title>/perception/object_recognition/prediction/map_based_prediction&#45;&gt;/planning/scenario_planning/parking/costmap_generator</title>\n",
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-       "</g>\n",
-       "<!-- /rosbag2_player -->\n",
-       "<g id=\"node107\" class=\"node\">\n",
-       "<title>/rosbag2_player</title>\n",
-       "<polygon fill=\"#f5f5f5\" stroke=\"#666666\" points=\"4879,-2346 4748,-2346 4748,-2310 4879,-2310 4879,-2346\"/>\n",
-       "<text text-anchor=\"middle\" x=\"4813.5\" y=\"-2324.3\" font-family=\"Times,serif\" font-size=\"14.00\">/rosbag2_player</text>\n",
-       "</g>\n",
-       "</g>\n",
-       "</svg>\n"
-      ],
-      "text/plain": [
-       "<graphviz.graphs.Digraph at 0x7f7bf506de70>"
-      ]
-     },
-     "execution_count": 7,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "outputs": [],
    "source": [
     "%%skip_if_false DFG_ENABLED\n",
     "%%skip_if_false DFG_PLOT\n",
@@ -7567,16 +483,17 @@
     "g.render(\"level_graph.svg\")\n",
     "\n",
     "g"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 51,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
    "outputs": [],
    "source": [
     "%%skip_if_false E2E_ENABLED\n",
@@ -7743,39 +660,18 @@
     "    deps = [get_dep_tree(dep, lvl + 1, set(visited_topics), children_are_dep_cbs, start_time) for dep in deps]\n",
     "    deps = [dep for dep in deps if dep is not None]\n",
     "    return DepTree(inst, deps)"
-   ]
+   ],
+   "metadata": {
+    "collapsed": false,
+    "pycharm": {
+     "name": "#%%\n"
+    }
+   }
   },
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {
-    "pycharm": {
-     "name": "#%%\n"
-    }
-   },
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "[CACHE] Creating cache entry for trees (in cache/trees_507fec94db.pkl).\n"
-     ]
-    },
-    {
-     "data": {
-      "application/vnd.jupyter.widget-view+json": {
-       "model_id": "572f74ee819445209689768947f4e6fb",
-       "version_major": 2,
-       "version_minor": 0
-      },
-      "text/plain": [
-       "Building message chains for topic /control/command/control_cmd:   0%|          | 0/1500 [00:00<?, ?it/s]"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
+   "outputs": [],
    "source": [
     "%%skip_if_false E2E_ENABLED\n",
     "\n",
@@ -7796,28 +692,18 @@
     "    return all_trees\n",
     "\n",
     "trees = cached(\"trees\", build_dep_trees, [TR_PATH])"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 28,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'Skipped (evaluated BW_ENABLED to False)'"
-      ]
-     },
-     "execution_count": 28,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "outputs": [],
    "source": [
     "%%skip_if_false E2E_ENABLED\n",
     "%%skip_if_false BW_ENABLED\n",
@@ -7867,16 +753,17 @@
     "                            'min': parse_bytes(m.group(\"min\")),\n",
     "                            'mean': parse_bytes(m.group(\"mean\")),\n",
     "                            'max': parse_bytes(m.group(\"max\"))}\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 29,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
    "outputs": [],
    "source": [
     "%%skip_if_false E2E_ENABLED\n",
@@ -7941,16 +828,17 @@
     "    e2es, e2e_paths = zip(*relevant_e2es(tree, [\"\"]))\n",
     "    e2ess.append(e2es)\n",
     "    e2e_pathss.append(e2e_paths)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 30,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
    "outputs": [],
    "source": [
     "#from matplotlib.animation import FuncAnimation\n",
@@ -7991,28 +879,18 @@
     "#\n",
     "#                print(f\"  {i:>3d}: N\", node.path)\n",
     "#    print(\"==================\")\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 31,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'Skipped (evaluated E2E_PLOT to False)'"
-      ]
-     },
-     "execution_count": 31,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "outputs": [],
    "source": [
     "%%skip_if_false E2E_ENABLED\n",
     "%%skip_if_false E2E_PLOT\n",
@@ -8050,16 +928,17 @@
     "ax.set_ylabel(\"End-to-End latency [s]\")\n",
     "ax2.set_ylabel(\"End-to-End path length\")\n",
     "None"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 32,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
    "outputs": [],
    "source": [
     "%%skip_if_false E2E_ENABLED\n",
@@ -8114,28 +993,18 @@
     "\n",
     "relevant_trees = [get_relevant_tree(tree, _leaf_filter) for tree in trees]\n",
     "relevant_trees = [t for t in relevant_trees if t]"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 33,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'Skipped (evaluated E2E_PLOT to False)'"
-      ]
-     },
-     "execution_count": 33,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "outputs": [],
    "source": [
     "%%skip_if_false E2E_ENABLED\n",
     "%%skip_if_false E2E_PLOT\n",
@@ -8218,28 +1087,18 @@
     "ax_rel.legend()\n",
     "\n",
     "None"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 34,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'Skipped (evaluated E2E_PLOT to False)'"
-      ]
-     },
-     "execution_count": 34,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "outputs": [],
    "source": [
     "%%skip_if_false E2E_ENABLED\n",
     "%%skip_if_false E2E_PLOT\n",
@@ -8267,28 +1126,18 @@
     "ax.legend()\n",
     "\n",
     "None"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 35,
+   ],
    "metadata": {
+    "collapsed": false,
     "pycharm": {
      "name": "#%%\n"
     }
-   },
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'Skipped (evaluated E2E_PLOT to False)'"
-      ]
-     },
-     "execution_count": 35,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "outputs": [],
    "source": [
     "%%skip_if_false E2E_ENABLED\n",
     "%%skip_if_false E2E_PLOT\n",
@@ -8460,82 +1309,126 @@
     "labels, handles = list(zip(*legend_entries.items()))\n",
     "ax.legend(handles, labels)\n",
     "print(len(y_labels))"
-   ]
+   ],
+   "metadata": {
+    "collapsed": false,
+    "pycharm": {
+     "name": "#%%\n"
+    }
+   }
   },
   {
    "cell_type": "markdown",
-   "metadata": {
-    "pycharm": {
-     "name": "#%% md\n"
-    }
-   },
    "source": [
     "# Find Top Critical Paths\n",
     "\n",
     "For each message tree, find its critical path and runner-up candidates. Then, for the whole timeseries, find the top critical paths by occurence count.\n",
     "Critical paths are abstracted by their E2E-latency and a list of passed CBs and topics.\n"
-   ]
+   ],
+   "metadata": {
+    "collapsed": false,
+    "pycharm": {
+     "name": "#%% md\n"
+    }
+   }
   },
   {
    "cell_type": "code",
-   "execution_count": 36,
+   "execution_count": null,
+   "outputs": [],
+   "source": [
+    "%%skip_if_false E2E_ENABLED\n",
+    "\n",
+    "from termcolor import colored\n",
+    "from tqdm import tqdm\n",
+    "from matching.subscriptions import sanitize\n",
+    "\n",
+    "critical_paths = {}\n",
+    "print(len(relevant_trees))\n",
+    "for tree in tqdm(trees):\n",
+    "    crit = critical_path(tree)\n",
+    "\n",
+    "    def _owner(inst):\n",
+    "        match inst:\n",
+    "            case TrCallbackInstance(callback_obj=cb_obj):\n",
+    "                cb_obj: TrCallbackObject\n",
+    "                if cb_obj and cb_obj.callback_symbol:\n",
+    "                    sym = repr(sanitize(cb_obj.callback_symbol.symbol))\n",
+    "                else:\n",
+    "                    sym = str(cb_obj.id)\n",
+    "                return sym\n",
+    "            case TrPublishInstance(publisher=pub):\n",
+    "                pub: TrPublisher\n",
+    "                topic = pub.topic_name\n",
+    "                return topic\n",
+    "            case _:\n",
+    "                raise ValueError()\n",
+    "\n",
+    "    key = tuple(map(_owner, crit[::-1]))\n",
+    "    if key not in critical_paths:\n",
+    "        critical_paths[key] = []\n",
+    "    critical_paths[key].append(crit)\n",
+    "\n",
+    "items = list(critical_paths.items())\n",
+    "items.sort(key=lambda pair: len(pair[1]), reverse=True)\n",
+    "\n",
+    "out_df = pd.DataFrame(columns=[\"path\", \"timestamp\", \"e2e_latency\"])\n",
+    "for key, paths in items:\n",
+    "    path_records = [(\" -> \".join(key), p[0].timestamp, p[0].timestamp - p[-1].timestamp) for p in paths]\n",
+    "    out_df.append(path_records)\n",
+    "    print(f\"======== {len(paths)}x: {sum(map(lambda p: p[0].timestamp - p[-1].timestamp, paths))/len(paths)*1000:.3f}ms\")\n",
+    "    paths_durations = []\n",
+    "    for path in paths:\n",
+    "        next_inst = None\n",
+    "        durations = []\n",
+    "        for inst in path:\n",
+    "            match inst:\n",
+    "                case TrCallbackInstance(timestamp=t, duration=d):\n",
+    "                    if not next_inst:\n",
+    "                        durations.append(d)\n",
+    "                    else:\n",
+    "                        durations.append(min(d, next_inst.timestamp - t))\n",
+    "                case TrPublishInstance(timestamp=t):\n",
+    "                    if not next_inst:\n",
+    "                        durations.append(0.0)\n",
+    "                    else:\n",
+    "                        durations.append(next_inst.timestamp - t)\n",
+    "                case _:\n",
+    "                    raise ValueError()\n",
+    "            next_inst = inst\n",
+    "        paths_durations.append(durations)\n",
+    "\n",
+    "    durations = list(map(lambda l: sum(l) / len(l), zip(*paths_durations)))[::-1]\n",
+    "    assert len(durations) == len(key)\n",
+    "    perc = np.percentile(durations, [70, 90, 95, 100])\n",
+    "    colors = [\"green\", \"yellow\", \"red\", \"magenta\"]\n",
+    "    for part, duration in zip(key, durations):\n",
+    "        E2E_PLOT_TIMESTAMP = 0\n",
+    "        for j, p in enumerate(perc):\n",
+    "            if duration < p:\n",
+    "                break\n",
+    "            E2E_PLOT_TIMESTAMP = j\n",
+    "        dur_str = colored(f\"{duration * 1000 :>.3f}ms\", colors[E2E_PLOT_TIMESTAMP])\n",
+    "        print(f\"  -> {dur_str} {part}\")\n",
+    "\n",
+    "out_df.to_csv(os.path.join(OUT_PATH, \"e2e.csv\"), sep=\"\\t\")"
+   ],
+   "metadata": {
+    "collapsed": false,
+    "pycharm": {
+     "name": "#%%\n"
+    }
+   }
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
    "metadata": {
     "pycharm": {
      "name": "#%%\n"
     }
    },
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "0\n"
-     ]
-    },
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "100%|█████████████████████████████████████████████| 1/1 [00:00<00:00, 83.44it/s]"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "======== 1x: 5092.585ms\n",
-      "  -> \u001b[35m101.022ms\u001b[0m /map/vector_map\n",
-      "  -> \u001b[33m42.454ms\u001b[0m void(mission_planner::MissionPlannerLanelet2)(autoware_auto_mapping_msgs::msg::HADMapBin)\n",
-      "  -> \u001b[32m1.466ms\u001b[0m void(mission_planner::MissionPlanner)(geometry_msgs::msg::PoseStamped)\n",
-      "  -> \u001b[32m1.153ms\u001b[0m /planning/mission_planning/route\n",
-      "  -> \u001b[32m0.050ms\u001b[0m void(behavior_path_planner::BehaviorPathPlannerNode)(autoware_auto_planning_msgs::msg::HADMapRoute)\n",
-      "  -> \u001b[32m3.374ms\u001b[0m void(behavior_path_planner::BehaviorPathPlannerNode)()\n",
-      "  -> \u001b[32m2.681ms\u001b[0m /planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id\n",
-      "  -> \u001b[32m8.293ms\u001b[0m void(behavior_velocity_planner::BehaviorVelocityPlannerNode)(autoware_auto_planning_msgs::msg::PathWithLaneId)\n",
-      "  -> \u001b[32m2.795ms\u001b[0m /planning/scenario_planning/lane_driving/behavior_planning/path\n",
-      "  -> \u001b[32m1.711ms\u001b[0m void(ObstacleAvoidancePlanner)(autoware_auto_planning_msgs::msg::Path)\n",
-      "  -> \u001b[32m0.173ms\u001b[0m /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory\n",
-      "  -> \u001b[32m0.580ms\u001b[0m void(motion_planning::ObstacleStopPlannerNode)(autoware_auto_planning_msgs::msg::Trajectory)\n",
-      "  -> \u001b[32m0.776ms\u001b[0m /planning/scenario_planning/lane_driving/trajectory\n",
-      "  -> \u001b[32m0.005ms\u001b[0m void(ScenarioSelectorNode)(autoware_auto_planning_msgs::msg::Trajectory)\n",
-      "  -> \u001b[32m0.877ms\u001b[0m /planning/scenario_planning/scenario_selector/trajectory\n",
-      "  -> \u001b[32m11.947ms\u001b[0m void(motion_velocity_smoother::MotionVelocitySmootherNode)(autoware_auto_planning_msgs::msg::Trajectory)\n",
-      "  -> \u001b[32m0.248ms\u001b[0m /planning/scenario_planning/trajectory\n",
-      "  -> \u001b[32m0.001ms\u001b[0m void(autoware::motion::control::trajectory_follower_nodes::Controller)(autoware_auto_planning_msgs::msg::Trajectory)\n",
-      "  -> \u001b[32m2.186ms\u001b[0m void(autoware::motion::control::trajectory_follower_nodes::Controller)()\n",
-      "  -> \u001b[32m0.000ms\u001b[0m /control/trajectory_follower/control_cmd\n"
-     ]
-    },
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "\n",
-      "/tmp/ipykernel_9555/3745443004.py:37: FutureWarning: The frame.append method is deprecated and will be removed from pandas in a future version. Use pandas.concat instead.\n",
-      "  out_df.append(path_records)\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "%%skip_if_false E2E_ENABLED\n",
     "\n",
@@ -8650,4 +1543,4 @@
  },
  "nbformat": 4,
  "nbformat_minor": 2
-}
+}
\ No newline at end of file