Change 'desired results' to 'requirements'
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@ -8,9 +8,13 @@ Design document for ROS 2 tracing, instrumentation, and analysis effort.
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Provide low-overhead tools and resources for robotics software development based on ROS 2.
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Provide low-overhead tools and resources for robotics software development based on ROS 2.
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### Desired results: analysis & visualization
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### Requirements: instrumentation
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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.:
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TODO
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### Requirements: analysis & visualization
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Analyses should be general enough to be useful for different use-cases, e.g.:
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* Callback duration
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* Callback duration
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* Time between callbacks (between two callback starts and/or a callback end and a start)
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* Time between callbacks (between two callback starts and/or a callback end and a start)
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@ -25,7 +29,7 @@ After the initial instrumentation, some general statistics analyses can be built
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with mean, stdev, etc. when applicable.
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with mean, stdev, etc. when applicable.
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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.
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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.
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### Tools/accessibility
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### Tools/accessibility
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@ -452,8 +456,12 @@ The first goal is to statically instrument ROS 2, aiming for it to be in the ROS
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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`.
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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`.
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### Targeted tools/dependencies
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The plan is to use LTTng with a ROS wrapper package like `tracetools` for ROS 1.
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The plan is to use LTTng with a ROS wrapper package like `tracetools` for ROS 1.
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The targeted analysis & visualization tools are pandas and Jupyter.
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### Notes on client libraries
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### Notes on client libraries
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ROS offer a client library (`rcl`) written in C as the base for any language-specific implementation, such as `rclcpp` and `rclpy`.
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ROS offer a client library (`rcl`) written in C as the base for any language-specific implementation, such as `rclcpp` and `rclpy`.
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