Change 'desired results' to 'requirements'

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Christophe Bedard 2019-05-29 11:15:49 +02:00
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commit 8763fbad6c

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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. 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 * Callback duration
* Time between callbacks (between two callback starts and/or a callback end and a start) * 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. 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 ### 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`. 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 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 ### 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`. ROS offer a client library (`rcl`) written in C as the base for any language-specific implementation, such as `rclcpp` and `rclpy`.