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Christophe Bedard 2019-05-31 10:17:33 +02:00
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@ -463,19 +463,33 @@ sequenceDiagram
end end
``` ```
## Implementation notes ## Design & implementation notes
### Instrumentation
The first goal is to statically instrument ROS 2, aiming for it to be in the ROS 2 E-turtle release (Nov 2019).
This includes transposing the existing ROS 1 instrumentation to ROS 2, wherever applicable. This step may not include instrumenting DDS implementations, and thus may be limited to the layer right before `rmw`.
### Targeted tools/dependencies ### Targeted tools/dependencies
The plan is to use LTTng with a ROS wrapper package like `tracetools` for ROS 1. The targeted tools or dependencies are:
The targeted analysis & visualization tools are pandas and Jupyter. * LTTng for tracing
* pandas and Jupyter for analysis & visualization
### Design
The plan is to use LTTng with a ROS wrapper package like `tracetools` for ROS 1. The suggested setup is:
* a tracing package (e.g. `tracetools`) wraps calls to LTTng
* ROS 2 is instrumented with calls to the tracing package, therefore it becomes a dependency and ships with the core stack
* by default, the tracing package's functions are empty -- they do not do anything
* if users wants to enable tracing, they need to
* install LTTng
* compile the tracing package from source, setting the right compile flag(s)
* overlay it on top of their ROS 2 installation
* use other package(s) for analysis and visualization
### Timeline
The first goal is to statically instrument ROS 2, aiming for it to be in the ROS 2 E-turtle release (Nov 2019).
This includes transposing the existing ROS 1 instrumentation to ROS 2, wherever applicable. This step may not include instrumenting DDS implementations, and thus may be limited to the layer(s) right before `rmw`.
### Notes on client libraries ### Notes on client libraries