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Change 'desired results' to 'requirements'

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Christophe Bedard 2019-05-29 11:15:49 +02:00
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doc/design_ros_2.md
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@ -8,9 +8,13 @@ Design document for ROS 2 tracing, instrumentation, and analysis effort.
Provide low-overhead tools and resources for robotics software development based on ROS 2.
### Desired results: analysis & visualization
### Requirements: instrumentation
After the initial instrumentation, some general statistics analyses can be built. The targeted analysis & visualization tools are pandas and Jupyter. The goal is to make analyses general enough to be useful for different use-cases, e.g.:
TODO
### Requirements: analysis & visualization
Analyses should be general enough to be useful for different use-cases, e.g.:
* Callback duration
* Time between callbacks (between two callback starts and/or a callback end and a start)
@ -25,7 +29,7 @@ After the initial instrumentation, some general statistics analyses can be built
with mean, stdev, etc. when applicable.
Generic tracepoints should also be provided for ROS 2 user code, which could then be applied to a user-provided model for higher-level behaviour statistics.
Generic tracepoints should also be provided for ROS 2 user code, which could then be applied to a user-provided model for higher-level behaviour statistics and visualization.
### Tools/accessibility
@ -452,8 +456,12 @@ The first goal is to statically instrument ROS 2, aiming for it to be in the ROS
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
The plan is to use LTTng with a ROS wrapper package like `tracetools` for ROS 1.
The targeted analysis & visualization tools are pandas and Jupyter.
### Notes on client libraries
ROS offer a client library (`rcl`) written in C as the base for any language-specific implementation, such as `rclcpp` and `rclpy`.