From 78ef1e1f7e6e84721ad8f1a45e81213e973ecae2 Mon Sep 17 00:00:00 2001 From: Christophe Bedard Date: Wed, 29 May 2019 15:16:23 +0200 Subject: [PATCH] Make instrumentation requirements list more consistent --- doc/design_ros_2.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/design_ros_2.md b/doc/design_ros_2.md index d4dff32..a3d9e10 100644 --- a/doc/design_ros_2.md +++ b/doc/design_ros_2.md @@ -12,15 +12,15 @@ Provide low-overhead tools and resources for robotics software development based Instrumentation should be built around the main uses of ROS 2, and should include relevant information. -1. In general +1. Overall 1. When creating a publisher/subscriber/service/client/etc., appropriate references should be kept in order to correlate with other tracepoints related to the same instance. -1. Publisher & subscription +1. Publishers & subscriptions 1. When creating a publisher/subscription, the effective topic name should be included (i.e. including namespace and after remapping). 2. When publishing a message, some sort of message identifier should be included in the tracepoint so it can be tracked through DDS up to the subscriber's side. 3. Callbacks (subscription, service, client, timer) 1. Callback function symbol should be included, whenever possible. 2. Information about callback execution (e.g. start & end) should be available. -4. Timer +4. Timers 1. Information about the period should be available. 5. Executors 1. Information about spin cycles & periods should be available.