67 lines
2 KiB
Markdown
67 lines
2 KiB
Markdown
# ros2_tracing
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[](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing/commits/master)
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Tracing tools for ROS 2.
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## Building
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If LTTng is not found during build, or if the [`TRACETOOLS_DISABLED` option is enabled](#disabling-tracing), then this package will not do anything.
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To enable tracing:
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1. Install [LTTng](https://lttng.org/docs/v2.11/) (`>=2.11.1`) with the Python bindings to control tracing and read traces:
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```
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$ sudo apt-get update
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$ sudo apt-get install lttng-tools lttng-modules-dkms liblttng-ust-dev
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$ sudo apt-get install python3-babeltrace python3-lttng
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```
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2. Build
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```
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$ colcon build
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```
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3. Source and check that tracing is enabled:
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```
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$ source ./install/local_setup.bash
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$ ros2 run tracetools status
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```
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### Disabling tracing
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Alternatively, to build and disable tracing, use `TRACETOOLS_DISABLED`:
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```
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$ colcon build --cmake-args " -DTRACETOOLS_DISABLED=ON"
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```
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## Tracing
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The steps above will not lead to trace data being generated, and thus they will have no impact on execution. LTTng has to be enabled. The packages in this repo provide two options.
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### Trace command
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The first option is to use the `ros2 trace` command.
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```
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$ ros2 trace
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```
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By default, it will enable all ROS tracepoints and a few kernel tracepoints. The trace will be written to `~/.ros/tracing/session-YYYYMMDDHHMMSS`. Run the command with `-h` for more information.
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### Launch file trace action
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Another option is to use the `Trace` action in a launch file along with your `Node` action(s). This way, tracing happens when launching the launch file.
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```
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$ ros2 launch tracetools_launch example.launch.py
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```
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See [this example launch file](./tracetools_launch/launch/example.launch.py) for more information.
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## Design
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See the [design document](./doc/design_ros_2.md).
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## Analysis
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See [`tracetools_analysis`](https://gitlab.com/micro-ROS/ros_tracing/tracetools_analysis).
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