1253 lines
97 KiB
Text
1253 lines
97 KiB
Text
{
|
|
"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\n",
|
|
"from functools import cached_property\n",
|
|
"import pickle"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 3,
|
|
"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": 4,
|
|
"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": null,
|
|
"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": 5,
|
|
"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",
|
|
"@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",
|
|
"\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",
|
|
"@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",
|
|
"@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",
|
|
"@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",
|
|
"@dataclass\n",
|
|
"class PublishInstance:\n",
|
|
" publisher_handle: int\n",
|
|
" timestamp: int\n",
|
|
" message: int\n",
|
|
"\n",
|
|
" @property\n",
|
|
" def publisher(self) -> 'Publisher':\n",
|
|
" return publishers[self.publisher_handle]\n",
|
|
"\n",
|
|
"@dataclass\n",
|
|
"class CallbackInstance:\n",
|
|
" callback_object: int\n",
|
|
" timestamp: int\n",
|
|
" duration: int\n",
|
|
" intra_process: bool\n",
|
|
"\n",
|
|
" @property\n",
|
|
" def callback_obj(self) -> 'CallbackObject':\n",
|
|
" return callback_objects[self.callback_object]\n",
|
|
"\n",
|
|
"@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": 7,
|
|
"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<autoware_auto_system_msgs::msg::HazardStatusStamped>::?)(autowar...: i=1626 Subscription n=emergency_handler t=/system/emergency/hazard_status\n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1030 Subscription n=ad_service_state_monitor t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1026 Subscription n=transform_listener_impl_aaaab90b38b0 t=/parameter_events \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaab90b38b0 t=/tf \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaab90b38b0 t=/tf_static \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 940 Subscription n=mission_planning_container t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 907 Subscription n=scenario_selector t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 903 Subscription n=transform_listener_impl_aaaad6cbbcb8 t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 907 Subscription n=external_velocity_limit_selector t=/parameter_events \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaad6cbbcb8 t=/tf \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaad6cbbcb8 t=/tf_static \n",
|
|
"void (AutowareStateMonitorNode::?)(autoware_auto_vehicle_msgs::msg::Engageconst*) : i=1626 Subscription n=ad_service_state_monitor t=/api/autoware/get/engage \n",
|
|
"void (AutowareStateMonitorNode::?)(autoware_auto_vehicle_msgs::msg::ControlModeReportconst*) : i=6466 Subscription n=ad_service_state_monitor t=/vehicle/status/control_mode \n",
|
|
"void (AutowareStateMonitorNode::?)(autoware_auto_planning_msgs::msg::HADMapRouteconst*) : i= 1 Subscription n=ad_service_state_monitor t=/planning/mission_planning/route\n",
|
|
"void (AutowareStateMonitorNode::?)(nav_msgs::msg::Odometryconst*) : i=6466 Subscription n=ad_service_state_monitor t=/localization/kinematic_state \n",
|
|
"void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::Trajectoryconst*) : i= 978 Subscription n=scenario_selector t=/planning/scenario_planning/lane_driving/trajectory\n",
|
|
"void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::Trajectoryconst*) : i= 101 Subscription n=scenario_selector t=/planning/scenario_planning/parking/trajectory\n",
|
|
"void (ScenarioSelectorNode::?)(autoware_auto_mapping_msgs::msg::HADMapBinconst*) : i= 1 Subscription n=scenario_selector t=/map/vector_map \n",
|
|
"void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::HADMapRouteconst*) : i= 1 Subscription n=scenario_selector t=/planning/mission_planning/route\n",
|
|
"void (ScenarioSelectorNode::?)(nav_msgs::msg::Odometryconst*) : i=6466 Subscription n=scenario_selector t=/localization/kinematic_state \n",
|
|
"void (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimitconst*) : i= 0 Subscription n=external_velocity_limit_selector t=/planning/scenario_planning/max_velocity_default\n",
|
|
"void (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimitconst*) : i= 0 Subscription n=external_velocity_limit_selector t=/planning/scenario_planning/max_velocity_candidates\n",
|
|
"void (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimitClearCommandco...: i= 0 Subscription n=external_velocity_limit_selector t=/planning/scenario_planning/clear_velocity_limit\n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 934 Subscription n=motion_velocity_smoother t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 930 Subscription n=transform_listener_impl_aaaaf1071f80 t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 887 Subscription n=behavior_planning_container t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 887 Subscription n=motion_planning_container t=/parameter_events \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaaf1071f80 t=/tf \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf1071f80 t=/tf_static \n",
|
|
"void (motion_velocity_smoother::MotionVelocitySmootherNode::?)(autoware_auto_planning_msgs::msg::...: i=1079 Subscription n=motion_velocity_smoother t=/planning/scenario_planning/scenario_selector/trajectory\n",
|
|
"void (motion_velocity_smoother::MotionVelocitySmootherNode::?)(nav_msgs::msg::Odometryconst*) : i=6267 Subscription n=motion_velocity_smoother t=/localization/kinematic_state \n",
|
|
"void (motion_velocity_smoother::MotionVelocitySmootherNode::?)(tier4_planning_msgs::msg::Velocity...: i= 0 Subscription n=motion_velocity_smoother t=/planning/scenario_planning/max_velocity\n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 887 Subscription n=parking_container t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 888 Subscription n=control_container t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 896 Subscription n=planning_error_monitor t=/parameter_events \n",
|
|
"void (planning_diagnostics::PlanningErrorMonitorNode::?)(autoware_auto_planning_msgs::msg::Trajec...: i=1078 Subscription n=planning_error_monitor t=/planning/scenario_planning/trajectory\n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 562 Subscription n=cpu_monitor t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 874 Subscription n=hdd_monitor t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 873 Subscription n=obstacle_avoidance_planner t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 875 Subscription n=lateral_controller_node_exe t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 863 Subscription n=transform_listener_impl_aaaaf51e51c0 t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 862 Subscription n=transform_listener_impl_aaaaf153e160 t=/parameter_events \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6465 Subscription n=transform_listener_impl_aaaaf51e51c0 t=/tf \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaaf153e160 t=/tf \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf51e51c0 t=/tf_static \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf153e160 t=/tf_static \n",
|
|
"void (ObstacleAvoidancePlanner::?)(autoware_auto_planning_msgs::msg::Path*) : i= 978 Subscription n=obstacle_avoidance_planner t=/planning/scenario_planning/lane_driving/behavior_planning/path\n",
|
|
"void (ObstacleAvoidancePlanner::?)(nav_msgs::msg::Odometry*) : i=6141 Subscription n=obstacle_avoidance_planner t=/localization/kinematic_state \n",
|
|
"void (ObstacleAvoidancePlanner::?)(autoware_auto_perception_msgs::msg::PredictedObjects*) : i=1582 Subscription n=obstacle_avoidance_planner t=/perception/object_recognition/objects\n",
|
|
"void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(autoware_auto_p...: i=1078 Subscription n=lateral_controller_node_exe t=/planning/scenario_planning/trajectory\n",
|
|
"void (ObstacleAvoidancePlanner::?)(tier4_planning_msgs::msg::EnableAvoidance*) : i= 0 Subscription n=obstacle_avoidance_planner t=/planning/scenario_planning/lane_driving/obstacle_avoidance_approval\n",
|
|
"void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(autoware_auto_v...: i=6285 Subscription n=lateral_controller_node_exe t=/vehicle/status/steering_status\n",
|
|
"void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(nav_msgs::msg::...: i=6285 Subscription n=lateral_controller_node_exe t=/localization/kinematic_state \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 710 Subscription n=mem_monitor t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 703 Subscription n=lanelet2_map_loader t=/parameter_events \n",
|
|
"void (diagnostic_aggregator::Aggregator::?)(diagnostic_msgs::msg::DiagnosticArray*) : i=10587 Subscription n=aggregator_node t=/diagnostics \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 695 Subscription n=net_monitor t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 683 Subscription n=lanelet2_map_visualization t=/parameter_events \n",
|
|
"void (Lanelet2MapVisualizationNode::?)(autoware_auto_mapping_msgs::msg::HADMapBinconst*) : i= 1 Subscription n=lanelet2_map_visualization t=/map/vector_map \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 677 Subscription n=ntp_monitor t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 669 Subscription n=mission_planner t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 665 Subscription n=transform_listener_impl_aaab0bafc440 t=/parameter_events \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaab0bafc440 t=/tf \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaab0bafc440 t=/tf_static \n",
|
|
"void (mission_planner::MissionPlanner::?)(geometry_msgs::msg::PoseStampedconst*) : i= 1 Subscription n=mission_planner t=/planning/mission_planning/goal\n",
|
|
"void (mission_planner::MissionPlanner::?)(geometry_msgs::msg::PoseStampedconst*) : i= 0 Subscription n=mission_planner t=/planning/mission_planning/checkpoint\n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 661 Subscription n=process_monitor t=/parameter_events \n",
|
|
"void (mission_planner::MissionPlannerLanelet2::?)(autoware_auto_mapping_msgs::msg::HADMapBinconst*) : i= 1 Subscription n=mission_planner t=/map/vector_map \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 655 Subscription n=longitudinal_controller_node_exe t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 651 Subscription n=transform_listener_impl_aaaaf52d4c30 t=/parameter_events \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6465 Subscription n=transform_listener_impl_aaaaf52d4c30 t=/tf \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf52d4c30 t=/tf_static \n",
|
|
"void (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)(nav_msgs::...: i=6285 Subscription n=longitudinal_controller_node_exe t=/localization/kinematic_state \n",
|
|
"void (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)(autoware_a...: i=1078 Subscription n=longitudinal_controller_node_exe t=/planning/scenario_planning/trajectory\n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 603 Subscription n=gpu_monitor t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 581 Subscription n=goal_pose_visualizer t=/parameter_events \n",
|
|
"void (mission_planner::GoalPoseVisualizer::?)(autoware_auto_planning_msgs::msg::HADMapRouteconst*) : i= 1 Subscription n=goal_pose_visualizer t=/planning/mission_planning/route\n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 569 Subscription n=pointcloud_map_loader t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 569 Subscription n=external_cmd_selector t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 553 Subscription n=behavior_path_planner t=/parameter_events \n",
|
|
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::ControlCommandStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/local/control\n",
|
|
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::GearShiftStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/local/shift\n",
|
|
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::TurnSignalStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/local/turn_signal\n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 551 Subscription n=transform_listener_impl_ffff200c66b0 t=/parameter_events \n",
|
|
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::Heartbeatconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/local/heartbeat\n",
|
|
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::ControlCommandStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/remote/control\n",
|
|
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::GearShiftStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/remote/shift\n",
|
|
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::TurnSignalStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/remote/turn_signal\n",
|
|
"void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::Heartbeatconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/remote/heartbeat\n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_ffff200c66b0 t=/tf \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_ffff200c66b0 t=/tf_static \n",
|
|
"void (behavior_path_planner::BehaviorPathPlannerNode::?)(nav_msgs::msg::Odometryconst*) : i=4320 Subscription n=behavior_path_planner t=/localization/kinematic_state \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 518 Subscription n=external_cmd_converter t=/parameter_events \n",
|
|
"void (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_perception_msgs::msg::Pred...: i=1049 Subscription n=behavior_path_planner t=/perception/object_recognition/objects\n",
|
|
"behavior_path_planner::BehaviorPathPlannerNode::BehaviorPathPlannerNode(rclcpp::NodeOptionsconst&...: i=1577 Subscription n=behavior_path_planner t=/planning/scenario_planning/scenario\n",
|
|
"void (behavior_path_planner::BehaviorPathPlannerNode::?)(tier4_planning_msgs::msg::Approvalconst*) : i=1171 Subscription n=behavior_path_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_approval\n",
|
|
"void (behavior_path_planner::BehaviorPathPlannerNode::?)(tier4_planning_msgs::msg::PathChangeModu...: i= 0 Subscription n=behavior_path_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_force\n",
|
|
"void (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_mapping_msgs::msg::HADMapB...: i= 1 Subscription n=behavior_path_planner t=/map/vector_map \n",
|
|
"void (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_planning_msgs::msg::HADMap...: i= 1 Subscription n=behavior_path_planner t=/planning/mission_planning/route\n",
|
|
"void (external_cmd_converter::ExternalCmdConverterNode::?)(nav_msgs::msg::Odometryconst*) : i=6285 Subscription n=external_cmd_converter t=/localization/kinematic_state \n",
|
|
"void (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_external_api_msgs::msg::ControlC...: i= 0 Subscription n=external_cmd_converter t=/external/selected/external_control_cmd\n",
|
|
"void (behavior_path_planner::SideShiftModule::?)(tier4_planning_msgs::msg::LateralOffsetconst*) : i= 0 Subscription n=behavior_path_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/input/lateral_offset\n",
|
|
"void (external_cmd_converter::ExternalCmdConverterNode::?)(autoware_auto_vehicle_msgs::msg::GearC...: i= 0 Subscription n=external_cmd_converter t=/external/selected/gear_cmd \n",
|
|
"void (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_control_msgs::msg::GateModeconst*) : i=1626 Subscription n=external_cmd_converter t=/control/current_gate_mode \n",
|
|
"void (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_external_api_msgs::msg::Heartbea...: i= 0 Subscription n=external_cmd_converter t=/external/selected/heartbeat \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 469 Subscription n=costmap_generator t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 454 Subscription n=transform_listener_impl_aaaaf521b848 t=/parameter_events \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaaf521b848 t=/tf \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf521b848 t=/tf_static \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 364 Subscription n=latlon_muxer_node_exe t=/parameter_events \n",
|
|
"void (autoware::motion::control::trajectory_follower_nodes::LatLonMuxer::?)(autoware_auto_control...: i=5235 Subscription n=latlon_muxer_node_exe t=/control/trajectory_follower/lateral/control_cmd\n",
|
|
"void (autoware::motion::control::trajectory_follower_nodes::LatLonMuxer::?)(autoware_auto_control...: i=5235 Subscription n=latlon_muxer_node_exe t=/control/trajectory_follower/longitudinal/control_cmd\n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 358 Subscription n=lane_departure_checker_node t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 354 Subscription n=transform_listener_impl_aaaaf55ae730 t=/parameter_events \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6465 Subscription n=transform_listener_impl_aaaaf55ae730 t=/tf \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf55ae730 t=/tf_static \n",
|
|
"void (lane_departure_checker::LaneDepartureCheckerNode::?)(nav_msgs::msg::Odometryconst*) : i=6286 Subscription n=lane_departure_checker_node t=/localization/kinematic_state \n",
|
|
"void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_mapping_msgs::msg::HADMa...: i= 1 Subscription n=lane_departure_checker_node t=/map/vector_map \n",
|
|
"void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::HADM...: i= 1 Subscription n=lane_departure_checker_node t=/planning/mission_planning/route\n",
|
|
"void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::Traj...: i=1078 Subscription n=lane_departure_checker_node t=/planning/scenario_planning/trajectory\n",
|
|
"void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::Traj...: i=5235 Subscription n=lane_departure_checker_node t=/control/trajectory_follower/lateral/predicted_trajectory\n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 333 Subscription n=map_tf_generator t=/parameter_events \n",
|
|
"void (MapTFGeneratorNode::?)(sensor_msgs::msg::PointCloud2const*) : i= 1 Subscription n=map_tf_generator t=/map/pointcloud_map \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 322 Subscription n=surround_obstacle_checker t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 318 Subscription n=transform_listener_impl_ffff5c00c708 t=/parameter_events \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6298 Subscription n=transform_listener_impl_ffff5c00c708 t=/tf \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_ffff5c00c708 t=/tf_static \n",
|
|
"void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(sensor_msgs::msg::PointCloud2con...: i=1574 Subscription n=surround_obstacle_checker t=/perception/obstacle_segmentation/pointcloud\n",
|
|
"void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(autoware_auto_perception_msgs::m...: i=1572 Subscription n=surround_obstacle_checker t=/perception/object_recognition/objects\n",
|
|
"void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(nav_msgs::msg::Odometryconst*) : i=6298 Subscription n=surround_obstacle_checker t=/localization/kinematic_state \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 300 Subscription n=obstacle_stop_planner t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 296 Subscription n=transform_listener_impl_ffff3400eba0 t=/parameter_events \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6294 Subscription n=transform_listener_impl_ffff3400eba0 t=/tf \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_ffff3400eba0 t=/tf_static \n",
|
|
"void (motion_planning::ObstacleStopPlannerNode::?)(sensor_msgs::msg::PointCloud2const*) : i=1573 Subscription n=obstacle_stop_planner t=/perception/obstacle_segmentation/pointcloud\n",
|
|
"void (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_planning_msgs::msg::Trajectoryco...: i= 978 Subscription n=obstacle_stop_planner t=/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory\n",
|
|
"void (motion_planning::ObstacleStopPlannerNode::?)(nav_msgs::msg::Odometryconst*) : i=6293 Subscription n=obstacle_stop_planner t=/localization/kinematic_state \n",
|
|
"void (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_perception_msgs::msg::PredictedO...: i=1571 Subscription n=obstacle_stop_planner t=/perception/object_recognition/objects\n",
|
|
"void (motion_planning::ObstacleStopPlannerNode::?)(tier4_planning_msgs::msg::ExpandStopRangeconst*) : i= 0 Subscription n=obstacle_stop_planner t=/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/input/expand_stop_range\n",
|
|
"void (CostmapGenerator::?)(autoware_auto_perception_msgs::msg::PredictedObjectsconst*) : i=1228 Subscription n=costmap_generator t=/perception/object_recognition/objects\n",
|
|
"void (CostmapGenerator::?)(sensor_msgs::msg::PointCloud2const*) : i=1287 Subscription n=costmap_generator t=/perception/obstacle_segmentation/pointcloud\n",
|
|
"void (CostmapGenerator::?)(autoware_auto_mapping_msgs::msg::HADMapBinconst*) : i= 1 Subscription n=costmap_generator t=/map/vector_map \n",
|
|
"void (CostmapGenerator::?)(tier4_planning_msgs::msg::Scenarioconst*) : i=1232 Subscription n=costmap_generator t=/planning/scenario_planning/scenario\n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 227 Subscription n=freespace_planner t=/parameter_events \n",
|
|
"void (freespace_planner::FreespacePlannerNode::?)(autoware_auto_planning_msgs::msg::HADMapRouteco...: i= 1 Subscription n=freespace_planner t=/planning/mission_planning/route\n",
|
|
"void (freespace_planner::FreespacePlannerNode::?)(nav_msgs::msg::OccupancyGridconst*) : i= 247 Subscription n=freespace_planner t=/planning/scenario_planning/parking/costmap_generator/occupancy_grid\n",
|
|
"void (freespace_planner::FreespacePlannerNode::?)(tier4_planning_msgs::msg::Scenarioconst*) : i=1232 Subscription n=freespace_planner t=/planning/scenario_planning/scenario\n",
|
|
"void (freespace_planner::FreespacePlannerNode::?)(nav_msgs::msg::Odometryconst*) : i=4919 Subscription n=freespace_planner t=/localization/kinematic_state \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 189 Subscription n=transform_listener_impl_aaaaf5695dc0 t=/parameter_events \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6288 Subscription n=transform_listener_impl_aaaaf5695dc0 t=/tf \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf5695dc0 t=/tf_static \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 188 Subscription n=shift_decider t=/parameter_events \n",
|
|
"void (ShiftDecider::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*) : i=10468 Subscription n=shift_decider t=/control/trajectory_follower/control_cmd\n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 183 Subscription n=vehicle_cmd_gate t=/parameter_events \n",
|
|
"void (VehicleCmdGate::?)(autoware_auto_system_msgs::msg::EmergencyStateconst*) : i=1625 Subscription n=vehicle_cmd_gate t=/system/emergency/emergency_state\n",
|
|
"void (VehicleCmdGate::?)(tier4_external_api_msgs::msg::Heartbeatconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/heartbeat \n",
|
|
"void (VehicleCmdGate::?)(tier4_control_msgs::msg::GateModeconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/control/gate_mode_cmd \n",
|
|
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::Engageconst*) : i= 2 Subscription n=vehicle_cmd_gate t=/autoware/engage \n",
|
|
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::SteeringReportconst*) : i=6282 Subscription n=vehicle_cmd_gate t=/vehicle/status/steering_status\n",
|
|
"void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommandconst*) : i=10468 Subscription n=vehicle_cmd_gate t=/control/trajectory_follower/control_cmd\n",
|
|
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommandconst*) : i= 983 Subscription n=vehicle_cmd_gate t=/planning/turn_indicators_cmd \n",
|
|
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommandconst*) : i= 983 Subscription n=vehicle_cmd_gate t=/planning/hazard_lights_cmd \n",
|
|
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommandconst*) : i=1571 Subscription n=vehicle_cmd_gate t=/control/shift_decider/gear_cmd\n",
|
|
"void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/control_cmd\n",
|
|
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/turn_indicators_cmd\n",
|
|
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/hazard_lights_cmd\n",
|
|
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/gear_cmd \n",
|
|
"void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommandconst*) : i=1625 Subscription n=vehicle_cmd_gate t=/system/emergency/control_cmd \n",
|
|
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommandconst*) : i=1625 Subscription n=vehicle_cmd_gate t=/system/emergency/hazard_lights_cmd\n",
|
|
"void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/system/emergency/gear_cmd \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 151 Subscription n=behavior_velocity_planner t=/parameter_events \n",
|
|
"void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 147 Subscription n=transform_listener_impl_ffff24598628 t=/parameter_events \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6070 Subscription n=transform_listener_impl_ffff24598628 t=/tf \n",
|
|
"void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_ffff24598628 t=/tf_static \n",
|
|
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg...: i= 981 Subscription n=behavior_velocity_planner t=/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id\n",
|
|
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::m...: i=1515 Subscription n=behavior_velocity_planner t=/perception/object_recognition/objects\n",
|
|
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(sensor_msgs::msg::PointCloud2con...: i=1517 Subscription n=behavior_velocity_planner t=/perception/obstacle_segmentation/pointcloud\n",
|
|
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometryconst*) : i=6069 Subscription n=behavior_velocity_planner t=/localization/kinematic_state \n",
|
|
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_mapping_msgs::msg:...: i= 1 Subscription n=behavior_velocity_planner t=/map/vector_map \n",
|
|
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::m...: i= 0 Subscription n=behavior_velocity_planner t=/perception/traffic_light_recognition/traffic_signals\n",
|
|
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_api_msgs::msg::CrosswalkSt...: i= 0 Subscription n=behavior_velocity_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_crosswalk_states\n",
|
|
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_api_msgs::msg::Intersectio...: i= 0 Subscription n=behavior_velocity_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_intersection_states\n",
|
|
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_planning_msgs::msg::Veloci...: i= 0 Subscription n=behavior_velocity_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_velocity_limit_mps\n",
|
|
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::m...: i= 0 Subscription n=behavior_velocity_planner t=/external/traffic_light_recognition/traffic_signals\n",
|
|
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_v2x_msgs::msg::VirtualTraf...: i= 0 Subscription n=behavior_velocity_planner t=/awapi/tmp/virtual_traffic_light_states\n",
|
|
"void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::OccupancyGridconst*): i=1515 Subscription n=behavior_velocity_planner t=/perception/occupancy_grid_map/map\n",
|
|
"void (AutowareErrorMonitor::?)() : i=1783 Timer n=system_error_monitor p=100 ms \n",
|
|
"void (EmergencyHandler::?)() : i=1782 Timer n=emergency_handler p=100 ms \n",
|
|
"void (diagnostic_updater::Updater::?)() : i= 178 Timer n=ad_service_state_monitor p=1000 ms\n",
|
|
"void (ScenarioSelectorNode::?)() : i=1672 Timer n=scenario_selector p=100 ms \n",
|
|
"void (diagnostic_updater::Updater::?)() : i= 178 Timer n=planning_error_monitor p=1000 ms\n",
|
|
"void (planning_diagnostics::PlanningErrorMonitorNode::?)() : i=1781 Timer n=planning_error_monitor p=100 ms \n",
|
|
"void (diagnostic_updater::Updater::?)() : i= 174 Timer n=cpu_monitor p=1000 ms\n",
|
|
"void (diagnostic_updater::Updater::?)() : i= 178 Timer n=hdd_monitor p=1000 ms\n",
|
|
"void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)() : i=5433 Timer n=lateral_controller_node_exe p=30 ms \n",
|
|
"void (HDDMonitor::?)() : i= 178 Timer n=hdd_monitor p=1000 ms\n",
|
|
"void (diagnostic_updater::Updater::?)() : i= 178 Timer n=mem_monitor p=1000 ms\n",
|
|
"void (diagnostic_aggregator::Aggregator::?)() : i=1780 Timer n=aggregator_node p=100 ms \n",
|
|
"void (diagnostic_updater::Updater::?)() : i= 178 Timer n=net_monitor p=1000 ms\n",
|
|
"void (diagnostic_updater::Updater::?)() : i= 177 Timer n=ntp_monitor p=1000 ms\n",
|
|
"void (diagnostic_updater::Updater::?)() : i= 121 Timer n=process_monitor p=1000 ms\n",
|
|
"void (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)() : i=5427 Timer n=longitudinal_controller_node_exe p=30 ms \n",
|
|
"void (diagnostic_updater::Updater::?)() : i= 177 Timer n=gpu_monitor p=1000 ms\n",
|
|
"void (diagnostic_updater::Updater::?)() : i= 163 Timer n=external_cmd_selector p=1000 ms\n",
|
|
"void (ExternalCmdSelector::?)() : i=1628 Timer n=external_cmd_selector p=100 ms \n",
|
|
"void (diagnostic_updater::Updater::?)() : i= 163 Timer n=external_cmd_converter p=1000 ms\n",
|
|
"void (external_cmd_converter::ExternalCmdConverterNode::?)() : i=1629 Timer n=external_cmd_converter p=100 ms \n",
|
|
"void (diagnostic_updater::Updater::?)() : i= 163 Timer n=lane_departure_checker_node p=1000 ms\n",
|
|
"void (AutowareStateMonitorNode::?)() : i=1772 Timer n=ad_service_state_monitor p=100 ms \n",
|
|
"void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)() : i=1630 Timer n=surround_obstacle_checker p=100 ms \n",
|
|
"void (CostmapGenerator::?)() : i=1339 Timer n=costmap_generator p=100 ms \n",
|
|
"void (freespace_planner::FreespacePlannerNode::?)() : i=1332 Timer n=freespace_planner p=100 ms \n",
|
|
"void (lane_departure_checker::LaneDepartureCheckerNode::?)() : i=1627 Timer n=lane_departure_checker_node p=100 ms \n",
|
|
"void (ShiftDecider::?)() : i=1627 Timer n=shift_decider p=100 ms \n",
|
|
"void (diagnostic_updater::Updater::?)() : i= 162 Timer n=vehicle_cmd_gate p=1000 ms\n",
|
|
"void (VehicleCmdGate::?)() : i=1626 Timer n=vehicle_cmd_gate p=100 ms \n",
|
|
"void (behavior_path_planner::BehaviorPathPlannerNode::?)() : i= 984 Timer n=behavior_path_planner p=100 ms \n"
|
|
]
|
|
}
|
|
],
|
|
"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": 107,
|
|
"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 = util._prettify(sym)\n",
|
|
" sym = re.sub(r\"std::shared_ptr<(.*?)>\", r\"\\1*\", sym)\n",
|
|
"\n",
|
|
" cb_owner = cb_obj.owner\n",
|
|
" if isinstance(cb_owner, Timer):\n",
|
|
" cb_type = \"T\"\n",
|
|
" elif isinstance(cb_owner, SubscriptionObject):\n",
|
|
" cb_type = \"S\"\n",
|
|
" except KeyError or AttributeError:\n",
|
|
" sym = \"UNKNOWN\"\n",
|
|
" cb_type = \"U\"\n",
|
|
" \n",
|
|
" y_labels.append(f\"{sym} {cb_type}\")\n",
|
|
" n_markers = len(cb_invocations)\n",
|
|
"\n",
|
|
" points_x = []; points_y = []\n",
|
|
" for time, dur in cb_invocations:\n",
|
|
" time = time.timestamp() - common_offset; dur = dur.total_seconds()\n",
|
|
" points_x += [time, time+dur, None]\n",
|
|
" points_y += [current_y, current_y, 0.0]\n",
|
|
" \n",
|
|
" ax.plot(points_x,points_y, marker='.', c=zero_color)\n",
|
|
" current_y += 1\n",
|
|
"\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": [
|
|
"# Pub-Use Latency Calculation"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": null,
|
|
"metadata": {},
|
|
"outputs": [],
|
|
"source": [
|
|
"#################################################\n",
|
|
"# \n",
|
|
"#################################################"
|
|
]
|
|
}
|
|
],
|
|
"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
|
|
}
|