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Christophe Bedard 2019-08-08 15:07:27 +02:00
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doc/design_ros_2.md
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Design document for ROS 2 tracing, instrumentation, and analysis effort. Design document for ROS 2 tracing, instrumentation, and analysis effort.
**Table of contents**
1. [Introduction](#introduction)
2. [Goals and requirements](#goals-and-requirements)
1. [Goals](#goals)
2. [Requirements: instrumentation](#requirements-instrumentation)
3. [Requirements: analysis & visualization](#requirements-analysis-visualization)
4. [Tools/accessibility](#toolsaccessibility)
3. [Instrumentation design](#instrumentation-design)
1. [Flow description](#flow-description)
1. [Process creation](#process-creation)
2. [Node/component creation](#nodecomponent-creation)
3. [Publisher creation](#publisher-creation)
4. [Subscription creation](#subscription-creation)
5. [Executors](#executors)
6. [Subscription callbacks](#subscription-callbacks)
7. [Message publishing](#message-publishing)
8. [Service creation](#service-creation)
9. [Service callbacks](#service-callbacks)
10. [Client creation](#client-creation)
11. [Client request](#client-request)
12. [Timer creation](#timer-creation)
13. [Timer callbacks](#timer-callbacks)
4. [Design & implementation notes](#design-implementation-notes)
1. [Targeted tools/dependencies](#targeted-toolsdependencies)
2. [Design](#design)
5. [Architecture](#architecture)
1. [Timeline](#timeline)
2. [Notes on client libraries](#notes-on-client-libraries)
3. [ROS 1/2 compatibility](#ros-12-compatibility)
6. [Tools](#tools)
7. [Analysis architecture](#analysis-architecture)
## Introduction ## Introduction
Tracing allows to record run-time data from a system, both for system data (e.g., when a process Tracing allows to record run-time data from a system, both for system data (e.g., when a process
@ -517,6 +549,8 @@ This effort should first focus on `rcl` and `rclcpp` , but `rclpy` should eventu
We could look into making analyses work on both ROS 1 and ROS 2, through a common instrumentation interface (or other abstraction). We could look into making analyses work on both ROS 1 and ROS 2, through a common instrumentation interface (or other abstraction).
## Tools
## Analysis architecture ## Analysis architecture
With profiling as an example implementation. With profiling as an example implementation.