72 lines
No EOL
3 KiB
Markdown
72 lines
No EOL
3 KiB
Markdown
# MA Autoware Trace Analysis
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Automatically extract data dependencies and end-to-end (E2E) latencies from ROS2 trace data and source code.
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## Prerequisites
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* Python 3.10 or newer (this is crucial!)
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* [JupyterLab](https://jupyter.org/install#jupyterlab) or [Jupyter Notebook](https://jupyter.org/install#jupyter-notebook)
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* [ROS2 Tracing](https://github.com/ros2/ros2_tracing)
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* [Tracetools Analysis](https://gitlab.com/ros-tracing/tracetools_analysis)
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* `python3-babeltrace` and `python3-lttng`, e.g. via `sudo apt install`, **for Python 3.10** (this requires either Ubuntu 22.04 or custom installation)
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## Requirements for Optional Features
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* `ros2_internal_dependency_analyzer` for finding intra-node dependencies via static analysis, which can then be
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utilized by this tool
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* `ros2 multitopic bw` for recording message sizes which can then be processed by this tool
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## Installation
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```shell
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# Make sure you are running Python 3.10 and the corresponding pip:
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python3.10 -V
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pip3.10 -V
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pip3.10 install -r requirements.txt
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```
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Make sure that ROS2 Tracing and Tracetools Analysis were compiled with `colcon build [...] --symlink-install [...]`. Without `--symlink-install`, the build folder structure will be incorrect and the libraries required by this tool cannot be located.
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## Usage
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The `trace_analysis.ipynb` notebook is the entry point for users.
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Configure the notebook according to the comments in the user settings cell.
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Settings can either be changed in the notebook or via environment variables:
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```python
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# In the notebook (User Settings cell near the top):
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TR_PATH = "path/to/trace/dir"
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E2E_ENABLED = True
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...
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```
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```shell
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# In the shell of your choice (choose Bash!):
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# Each setting is named the same as in the notebook but prefixed by "ANA_NB_".
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# For strings, quotes have to be included IN THE VARIABLE VALUE, i.e. double quotation "'...'"
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# has to be used in most cases
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ANA_NB_TR_PATH="'path/to/trace/dir'"
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ANA_NB_E2E_ENABLED="True"
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```
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You can run the notebook via the "Run All" command in Jupyter or you can execute it headless
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from the command line:
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```shell
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jupyter nbconvert --to notebook --execute trace-analysis.ipynb
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```
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The notebook also supports invocation via [Papermill](https://papermill.readthedocs.io/en/latest/).
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The output files are found in the configured output dir (default: `out/`).
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Inputs are processed and cached in `cache/`.
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## Outputs
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The `plot_e2es_violin_XYZ.csv` files correspond to the latencies for each recorded dataflow on path item XYZ.
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The labels for these path items are found in `plot_e2es_violin_labels.csv`.
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The latency types (DDS, Idle, Computation) for these path items are found in `plot_e2es_violin_types.csv`.
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`calc_times.csv` provides calculation times for all callbacks on the path (not only until publication, which is the case for the computation times above).
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## Known Issues
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* The histograms output in the notebook for Idle, Computation and DDS times, do not aggregate these values over the end-to-end path. Thus, the latencies of all path elements are added into the same histogram. |