{ "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\n", "\n", "from dataclasses import dataclass\n", "from typing import List, Dict, Set, Union, Tuple\n", "from functools import cached_property\n", "import pickle\n", "import re" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "path = os.path.expanduser(\"~/.ros/tracing/autoware-trace/\")\n", "path_converted = os.path.join(path, 'converted')\n", "if os.path.exists(path_converted):\n", " timestamp = os.path.getmtime(path_converted)\n", " pkl_filename = f\"ros_objects_{hash(timestamp)}.pkl\"\n", "else:\n", " pkl_filename = None" ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "if not pkl_filename:\n", " file = load_file(path)\n", " handler = Ros2Handler.process(file)\n", " util = Ros2DataModelUtil(handler)" ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [], "source": [ "if not pkl_filename:\n", " n=1\n", " self = handler.data\n", " print('====================ROS 2 DATA MODEL===================')\n", " print('██ Contexts: ██')\n", " print(self.contexts[:n].to_string())\n", " print('██ Nodes: ██')\n", " print(self.nodes[:n].to_string())\n", " print('██ Publishers (rmw): ██')\n", " print(self.rmw_publishers[:n].to_string())\n", " print('██ Publishers (rcl): ██')\n", " print(self.rcl_publishers[:n].to_string())\n", " print('██ Subscriptions (rmw): ██')\n", " print(self.rmw_subscriptions[:n].to_string())\n", " print('██ Subscriptions (rcl): ██')\n", " print(self.rcl_subscriptions[:n].to_string())\n", " print('██ Subscription objects: ██')\n", " print(self.subscription_objects[:n].to_string())\n", " print('██ Services: ██')\n", " print(self.services[:n].to_string())\n", " print('██ Clients: ██')\n", " print(self.clients[:n].to_string())\n", " print('██ Timers: ██')\n", " print(self.timers[:n].to_string())\n", " print('██ Timer-node links: ██')\n", " print(self.timer_node_links[:n].to_string())\n", " print('██ Callback objects: ██')\n", " print(self.callback_objects[:n].to_string())\n", " print('██ Callback symbols: ██')\n", " print(self.callback_symbols[:n].to_string())\n", " print('██ Callback instances: ██')\n", " print(self.callback_instances[:n].to_string())\n", " print('██ Publish instances (rclcpp): ██')\n", " print(self.rclcpp_publish_instances[:n].to_string())\n", " print('██ Publish instances (rcl): ██')\n", " print(self.rcl_publish_instances[:n].to_string())\n", " print('██ Publish instances (rmw): ██')\n", " print(self.rmw_publish_instances[:n].to_string())\n", " print('██ Take instances (rmw): ██')\n", " print(self.rmw_take_instances[:n].to_string())\n", " print('██ Take instances (rcl): ██')\n", " print(self.rcl_take_instances[:n].to_string())\n", " print('██ Take instances (rclcpp): ██')\n", " print(self.rclcpp_take_instances[:n].to_string())\n", " print('██ Lifecycle state machines: ██')\n", " print(self.lifecycle_state_machines[:n].to_string())\n", " print('██ Lifecycle transitions: ██')\n", " print(self.lifecycle_transitions[:n].to_string())\n", " print('==================================================')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Data Structures" ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [], "source": [ "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", " @cached_property\n", " def path(self) -> str:\n", " return os.path.join(self.namespace, self.name)\n", "\n", " @cached_property\n", " def publishers(self) -> List['Publisher']:\n", " return list(filter(lambda pub: pub.node_handle == self.id, publishers.values()))\n", "\n", " @cached_property\n", " def subscriptions(self) -> List['Subscription']:\n", " return list(filter(lambda sub: sub.node_handle == self.id, subscriptions.values()))\n", " \n", " @cached_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", " def __hash__(self):\n", " return hash(self.id)\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", " @cached_property\n", " def subscriptions(self) -> List['Subscription']:\n", " return list(filter(lambda sub: sub.topic_name == self.topic_name, subscriptions.values()))\n", "\n", " @cached_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", "\n", " def __hash__(self):\n", " return hash(self.id)\n", "\n", "\n", "@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", " @cached_property\n", " def publishers(self) -> List['Publisher']:\n", " return list(filter(lambda pub: pub.topic_name == self.topic_name, publishers.values()))\n", " \n", " @cached_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", "\n", " @property\n", " def topic(self) -> 'Topic':\n", " return topics[self.topic_name]\n", "\n", " def __hash__(self):\n", " return hash(self.id)\n", " \n", "@dataclass\n", "class Timer:\n", " id: int\n", " timestamp: int\n", " period: int\n", " tid: int\n", "\n", " @cached_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", " \n", " @property\n", " def callback_object(self) -> 'CallbackObject':\n", " return callback_objects[self.id]\n", "\n", " def __hash__(self):\n", " return hash(self.id)\n", "\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", " @property\n", " def callback_object(self) -> 'CallbackObject':\n", " return callback_objects[self.id]\n", "\n", " def __hash__(self):\n", " return hash(self.id)\n", "\n", "@dataclass\n", "class CallbackObject:\n", " id: int # (reference) = subscription_object.id | timer.id | ....\n", " timestamp: int\n", " callback_object: int\n", "\n", " @cached_property\n", " def callback_instances(self) -> List['CallbackInstance']:\n", " return list(filter(lambda inst: inst.callback_object == self.callback_object, callback_instances))\n", "\n", " @cached_property\n", " 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", " @cached_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", "\n", " def __hash__(self):\n", " return hash(self.id)\n", "\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", " def __hash__(self):\n", " return hash((self.publisher_handle))\n", "\n", "@dataclass\n", "class CallbackInstance:\n", " callback_object: int\n", " timestamp: pd.Timestamp\n", " duration: pd.Timedelta\n", " intra_process: bool\n", "\n", " @property\n", " def callback_obj(self) -> 'CallbackObject':\n", " return callback_objects[self.callback_object]\n", "\n", "@dataclass\n", "class CallbackSymbol:\n", " id: int # callback_object\n", " timestamp: int\n", " symbol: str\n", "\n", " @cached_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", "#######################################\n", "# Self-defined (not from ROS2DataModel)\n", "#######################################\n", "\n", "@dataclass\n", "class Topic:\n", " name: str\n", "\n", " @cached_property\n", " def publishers(self) -> List['Publisher']:\n", " return list(filter(lambda pub: pub.topic_name == self.name, publishers.values()))\n", " \n", " @cached_property\n", " def subscriptions(self) -> List['Subscription']:\n", " return list(filter(lambda sub: sub.topic_name == self.name, subscriptions.values()))\n" ] }, { "cell_type": "code", "execution_count": 6, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Found pickled ROS objects from previous session, restoring...\n", "Done.\n" ] } ], "source": [ "\n", "if not pkl_filename:\n", " print(\"Did not find pickled ROS objects, extracting...\")\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", " 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", " 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\")\n", "\n", " print(\"Caching dynamic properties...\")\n", "\n", " [(o.path, o.publishers, o.subscriptions, o.timers) for o in nodes.values()] ; print(\"Cached node properties\")\n", " [(o.instances, o.subscriptions) for o in publishers.values()] ; print(\"Cached publisher properties\")\n", " [(o.publishers, o.subscription_object) for o in subscriptions.values()] ; print(\"Cached subscription properties\")\n", " [(o.nodes) for o in timers.values()] ; print(\"Cached timer properties\")\n", " [(o.callback_instances, o.owner, o.owner_info) for o in callback_objects.values()] ; print(\"Cached callback object properties\")\n", " [(o.callback_obj) for o in callback_symbols.values()] ; print(\"Cached callback symbol properties\")\n", " [(o.publishers, o.subscriptions) for o in topics.values()] ; print(\"Cached topic properties\")\n", "\n", " fields_to_pickle = [\n", " \"nodes\",\n", " \"publishers\",\n", " \"subscriptions\",\n", " \"timers\",\n", " \"timer_node_links\",\n", " \"subscription_objects\",\n", " \"callback_objects\",\n", " \"callback_symbols\",\n", " \"publish_instances\",\n", " \"callback_instances\",\n", " ]\n", "\n", " pkl_dict = {key: globals()[key] for key in fields_to_pickle}\n", "\n", " print(\"Pickling...\")\n", " with open(pkl_filename, \"wb\") as f:\n", " pickle.dump(pkl_dict, f)\n", "else:\n", " print(\"Found pickled ROS objects from previous session, restoring...\")\n", " with open(pkl_filename, \"rb\") as f:\n", " pkl_dict = pickle.load(f)\n", " for k, v in pkl_dict.items():\n", " globals()[k] = v\n", "\n", "print(\"Done.\")\n" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Callback-Sub & Callback-Timer Links" ] }, { "cell_type": "code", "execution_count": 83, "metadata": {}, "outputs": [ { "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::?)(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" ] } ], "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()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Topic-Node Mapping" ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "161 topics were aggregated into 78 cohorts\n" ] } ], "source": [ "# Aggregate topics that have the same pubs and subs\n", "topic_cohorts = {}\n", "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", " if key not in topic_cohorts:\n", " topic_cohorts[key] = []\n", " 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" ] }, { "cell_type": "code", "execution_count": 6, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "/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" ] } ], "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", "execution_count": 7, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "219 unknown publisher handles (176 known ones)\n" ] } ], "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", "execution_count": null, "metadata": { "scrolled": false }, "outputs": [], "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", " if any(f in node.path for f in node_filters): \n", " continue\n", " net.add_node(node.id, label=node.name, title=node.path, size=20, color=\"#333\")\n", "\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", "execution_count": 11, "metadata": {}, "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" ] } ], "source": [ "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", "\n", "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", "\n", "for node in nodes.values():\n", " node_pub_use_dict = pub_use_delays[node.id]\n", " timestamp_min = np.inf; timestamp_max = 0\n", "\n", " n_pub_timestamps = 0\n", " for sub in node.subscriptions:\n", " node_pub_use_dict['pubs'][sub.topic_name] = {}\n", " 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", " 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" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "from matplotlib import cm\n", "\n", "fig_dirname = \"fig_pub_use\"\n", "os.makedirs(fig_dirname, exist_ok=True)\n", "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", " if len(node_pub_use_dict['pubs']) == 0:\n", " print(f\"Skipping {node_path}, no publications\")\n", " continue\n", "\n", " fig = plt.figure(figsize=(15,5))\n", " ax: plt.Axes = fig.add_subplot()\n", "\n", " 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", "\n", " 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 = Ros2DataModelUtil._prettify(None, 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", "\n", " n_cbs = current_y\n", "\n", " 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", " 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", " \n", " trigger_strs = []\n", " t = node.timers\n", " if t:\n", " 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", " n_subs = len(node.subscriptions)\n", " trigger_strs.append(f\"{n_subs} subscription{'s' if n_subs != 1 else ''}\")\n", "\n", " ax.set_xlabel(\"Publication / Invocation Timestamp [s]\")\n", " ax.set_ylabel(\"Topic\")\n", " 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", " plt.savefig(os.path.join(fig_dirname, f\"{node_i:06}{node_path}\".replace('/','-')))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# E2E Latency Calculation" ] }, { "cell_type": "code", "execution_count": 11, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "[Topic(name='/api/autoware/get/map/info/hash'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/markers'), Topic(name='/rosout'), Topic(name='/control/command/gear_cmd'), Topic(name='/planning/scenario_planning/status/infrastructure_commands'), Topic(name='/control/trajectory_follower/longitudinal/diagnostic'), Topic(name='/robot_description'), Topic(name='/planning/mission_planning/route_marker'), Topic(name='/control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/running_modules'), Topic(name='/planning/scenario_planning/status/stop_reason'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/debug/forward_filtered_trajectory'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/virtual_traffic_light'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_boundary'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_debug_message_array'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/ready_module'), Topic(name='/control/command/emergency_cmd'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/debug/backward_filtered_trajectory'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/mpt_ref_traj'), Topic(name='/map/vector_map_marker'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/stop_speed_exceeded'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/closest_max_velocity'), Topic(name='/control/trajectory_follower/lane_departure_checker_node/debug/marker_array'), Topic(name='/planning/scenario_planning/status/stop_reasons'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/closest_jerk'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/clearance_map'), Topic(name='/api/autoware/get/emergency'), Topic(name='/planning/scenario_planning/parking/freespace_planner/debug/pose_array'), Topic(name='/diagnostics_toplevel_state'), Topic(name='/planning/mission_planning/echo_back_goal_pose'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection'), Topic(name='/control/trajectory_follower/longitudinal/slope_angle'), Topic(name='/planning/planning_diagnostics/planning_error_monitor/debug/marker'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/drivable_area'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/calculation_time'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/debug/merged_filtered_trajectory'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/debug/trajectory_external_velocity_limited'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/closest_acceleration'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/area_with_objects'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/mpt_fixed_traj'), Topic(name='/control/command/turn_indicators_cmd'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/debug/trajectory_raw'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/path_for_visualize'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop/debug_values'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/object_clearance_map'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/force_available'), Topic(name='/planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array'), Topic(name='/control/external_cmd_selector/current_selector_mode'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/closest_velocity'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/debug/trajectory_time_resampled'), Topic(name='/planning/scenario_planning/status/no_start_reason'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/extended_non_fixed_traj'), Topic(name='/control/trajectory_follower/lane_departure_checker_node/debug/deviation/lateral'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/calculation_time'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area'), Topic(name='/api/external/get/command/selected/control'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/extended_fixed_traj'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk'), Topic(name='/planning/scenario_planning/parking/costmap_generator/grid_map'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/merge_from_private'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/wall_marker'), Topic(name='/control/trajectory_follower/lane_departure_checker_node/debug/processing_time_ms'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/mpt_traj'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/output/stop_reason'), Topic(name='/control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw_deg'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/debug/trajectory_lateral_acc_filtered'), Topic(name='/planning/scenario_planning/current_max_velocity'), Topic(name='/system/system_monitor/cpu_monitor/cpu_usage'), Topic(name='/control/command/hazard_lights_cmd'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/output/path_candidate'), Topic(name='/diagnostics_err'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/closest_merged_velocity'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control/debug_values'), Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot'), Topic(name='/control/trajectory_follower/lateral/diagnostic'), Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/eb_trajectory'), Topic(name='/planning/scenario_planning/motion_velocity_smoother/distance_to_stopline')]\n" ] } ], "source": [ "#################################################\n", "# Data structures & helpers\n", "#################################################\n", "\n", "@dataclass\n", "class LatencyStats:\n", " pub_use_latencies: np.ndarray\n", " exec_latencies: np.ndarray\n", "\n", " @cached_property\n", " def total_latencies(self):\n", " return self.pub_use_latencies + self.exec_latencies\n", "\n", "@dataclass\n", "class LatencyGraph:\n", " verts: Set[CallbackObject]\n", " edges: Dict[Tuple[CallbackObject, CallbackObject], Tuple[Topic, LatencyStats]]\n", " starts: Set[CallbackObject]\n", " ends: Set[CallbackObject]\n", "\n", "\n", "#################################################\n", "# Identify input and output topics\n", "#################################################\n", "\n", "in_topics = [t for t in topics.values() if not t.publishers]\n", "out_topics = [t for t in topics.values() if not t.subscriptions]\n", "\n", "#################################################\n", "# For each node, work out dependencies and\n", "# publications of each callback\n", "#################################################\n", "\n", "for cb in callback_objects.values():\n", " # Find topics the callback depends on (HEURISTICALLY!)\n", " # - Timer callbacks: assume that the callback depends on every subscribed topic of the node\n", " # - Subscription callbacks: assume that the callback only depends on the subscribed topic\n", "\n", " if isinstance(cb.owner, Timer):\n", " owner_nodes = cb.owner.nodes\n", " if len(owner_nodes) != 1:\n", " raise(ValueError(\"Timer has more than one owner!\"))\n", " owner_node = owner_nodes[0]\n", "\n", " dep_topics = [sub.topic for sub in owner_node.subscriptions]\n", " elif isinstance(cb.owner, SubscriptionObject):\n", " owner_node = cb.owner.subscription.node\n", " dep_topics = cb.owner.subscription.topic\n", " else:\n", " raise RuntimeError(f\"Callback owners other than timers/subscriptions cannot be handled: {cb.owner_info}\")\n", "\n", " # Find topics the callback publishes to (HEURISTICALLY!)\n", " # For topics published to during the runtime of the callback's instances, \n", " # assume that they are published by the callback\n", "\n", " def inst_runtime_interval(cb_inst):\n", " inst_t_min = inst.timestamp.timestamp()\n", " inst_t_max = inst_t_min + inst.duration.total_seconds()\n", " return (inst_t_min, inst_t_max)\n", " \n", " def filter_pub_insts_by_interval(cb_intervals, pub_insts: List[PublishInstance]):\n", " return [inst for inst in pub_insts for (t_min, t_max) in cb_intervals if t_min < inst.timestamp * 1e-9 < t_max]\n", "\n", " cb_runtime_intervals = [inst_runtime_interval(inst) for inst in cb.callback_instances]\n", " cb_pub_overlaps = [filter_pub_insts_by_interval(cb_runtime_intervals, pub.instances) for pub in owner_node.publishers]\n", " cb_pub_scores = [len(pub_overlaps) / len(pub.instances) for pub, pub_overlaps in zip(owner_node.publishers, cb_pub_overlaps)]\n", " print(cb_pub_scores)\n", "\n", "#################################################\n", "# For each callback, compute pub-use latency \n", "# and runtime\n", "#################################################\n", "\n", "\n", "\n", "#################################################\n", "# Transitively add latencies to get E2E latency\n", "#################################################" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "interpreter": { "hash": "916dbcbb3f70747c44a77c7bcd40155683ae19c65e1c03b4aa3499c5328201f1" }, "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.8.10" } }, "nbformat": 4, "nbformat_minor": 2 }