diff --git a/tracetools_analysis/analysis/callback_duration.ipynb b/tracetools_analysis/analysis/callback_duration.ipynb
index 02d5277..4b7aa1a 100644
--- a/tracetools_analysis/analysis/callback_duration.ipynb
+++ b/tracetools_analysis/analysis/callback_duration.ipynb
@@ -28,23 +28,14 @@
    "outputs": [],
    "source": [
     "#path = '~/.ros/tracing/pingpong/ust'\n",
-    "path = '/workspaces/ROS-Dynamic-Executor-Experiments/analysis/tracing/my-tracing-session/converted'"
+    "path = '/workspaces/ROS-Dynamic-Executor-Experiments/analysis/tracing/ros2_tracing_session/converted'"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": 3,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "/workspaces/ROS-Dynamic-Executor-Experiments/venv38/lib/python3.8/site-packages/pandas/core/computation/expressions.py:20: UserWarning: Pandas requires version '2.7.3' or newer of 'numexpr' (version '2.7.1' currently installed).\n",
-      "  from pandas.core.computation.check import NUMEXPR_INSTALLED\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "import sys\n",
     "# Assuming a workspace with:\n",
@@ -71,7 +62,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [
     {
@@ -86,7 +77,7 @@
     "# Process\n",
     "events = load_file(path)\n",
     "handler = Ros2Handler.process(events)\n",
-    "handler.data.print_data()"
+    "#handler.data.print_data()"
    ]
   },
   {
@@ -107,7 +98,7 @@
        "    </style>\n",
        "    <div>\n",
        "        <a href=\"https://bokeh.org\" target=\"_blank\" class=\"bk-notebook-logo\"></a>\n",
-       "        <span id=\"df316840-9279-4e4b-9d5b-724538acf5c2\">Loading BokehJS ...</span>\n",
+       "        <span id=\"d94072da-687a-4aef-ac17-3c4c8b978ae5\">Loading BokehJS ...</span>\n",
        "    </div>\n"
       ]
      },
@@ -116,7 +107,7 @@
     },
     {
      "data": {
-      "application/javascript": "(function(root) {\n  function now() {\n    return new Date();\n  }\n\n  const force = true;\n\n  if (typeof root._bokeh_onload_callbacks === \"undefined\" || force === true) {\n    root._bokeh_onload_callbacks = [];\n    root._bokeh_is_loading = undefined;\n  }\n\nconst JS_MIME_TYPE = 'application/javascript';\n  const HTML_MIME_TYPE = 'text/html';\n  const EXEC_MIME_TYPE = 'application/vnd.bokehjs_exec.v0+json';\n  const CLASS_NAME = 'output_bokeh rendered_html';\n\n  /**\n   * Render data to the DOM node\n   */\n  function render(props, node) {\n    const script = document.createElement(\"script\");\n    node.appendChild(script);\n  }\n\n  /**\n   * Handle when an output is cleared or removed\n   */\n  function handleClearOutput(event, handle) {\n    const cell = handle.cell;\n\n    const id = cell.output_area._bokeh_element_id;\n    const server_id = cell.output_area._bokeh_server_id;\n    // Clean up Bokeh references\n    if (id != null && id in Bokeh.index) {\n      Bokeh.index[id].model.document.clear();\n      delete Bokeh.index[id];\n    }\n\n    if (server_id !== undefined) {\n      // Clean up Bokeh references\n      const cmd_clean = \"from bokeh.io.state import curstate; print(curstate().uuid_to_server['\" + server_id + \"'].get_sessions()[0].document.roots[0]._id)\";\n      cell.notebook.kernel.execute(cmd_clean, {\n        iopub: {\n          output: function(msg) {\n            const id = msg.content.text.trim();\n            if (id in Bokeh.index) {\n              Bokeh.index[id].model.document.clear();\n              delete Bokeh.index[id];\n            }\n          }\n        }\n      });\n      // Destroy server and session\n      const cmd_destroy = \"import bokeh.io.notebook as ion; ion.destroy_server('\" + server_id + \"')\";\n      cell.notebook.kernel.execute(cmd_destroy);\n    }\n  }\n\n  /**\n   * Handle when a new output is added\n   */\n  function handleAddOutput(event, handle) {\n    const output_area = handle.output_area;\n    const output = handle.output;\n\n    // limit handleAddOutput to display_data with EXEC_MIME_TYPE content only\n    if ((output.output_type != \"display_data\") || (!Object.prototype.hasOwnProperty.call(output.data, EXEC_MIME_TYPE))) {\n      return\n    }\n\n    const toinsert = output_area.element.find(\".\" + CLASS_NAME.split(' ')[0]);\n\n    if (output.metadata[EXEC_MIME_TYPE][\"id\"] !== undefined) {\n      toinsert[toinsert.length - 1].firstChild.textContent = output.data[JS_MIME_TYPE];\n      // store reference to embed id on output_area\n      output_area._bokeh_element_id = output.metadata[EXEC_MIME_TYPE][\"id\"];\n    }\n    if (output.metadata[EXEC_MIME_TYPE][\"server_id\"] !== undefined) {\n      const bk_div = document.createElement(\"div\");\n      bk_div.innerHTML = output.data[HTML_MIME_TYPE];\n      const script_attrs = bk_div.children[0].attributes;\n      for (let i = 0; i < script_attrs.length; i++) {\n        toinsert[toinsert.length - 1].firstChild.setAttribute(script_attrs[i].name, script_attrs[i].value);\n        toinsert[toinsert.length - 1].firstChild.textContent = bk_div.children[0].textContent\n      }\n      // store reference to server id on output_area\n      output_area._bokeh_server_id = output.metadata[EXEC_MIME_TYPE][\"server_id\"];\n    }\n  }\n\n  function register_renderer(events, OutputArea) {\n\n    function append_mime(data, metadata, element) {\n      // create a DOM node to render to\n      const toinsert = this.create_output_subarea(\n        metadata,\n        CLASS_NAME,\n        EXEC_MIME_TYPE\n      );\n      this.keyboard_manager.register_events(toinsert);\n      // Render to node\n      const props = {data: data, metadata: metadata[EXEC_MIME_TYPE]};\n      render(props, toinsert[toinsert.length - 1]);\n      element.append(toinsert);\n      return toinsert\n    }\n\n    /* Handle when an output is cleared or removed */\n    events.on('clear_output.CodeCell', handleClearOutput);\n    events.on('delete.Cell', handleClearOutput);\n\n    /* Handle when a new output is added */\n    events.on('output_added.OutputArea', handleAddOutput);\n\n    /**\n     * Register the mime type and append_mime function with output_area\n     */\n    OutputArea.prototype.register_mime_type(EXEC_MIME_TYPE, append_mime, {\n      /* Is output safe? */\n      safe: true,\n      /* Index of renderer in `output_area.display_order` */\n      index: 0\n    });\n  }\n\n  // register the mime type if in Jupyter Notebook environment and previously unregistered\n  if (root.Jupyter !== undefined) {\n    const events = require('base/js/events');\n    const OutputArea = require('notebook/js/outputarea').OutputArea;\n\n    if (OutputArea.prototype.mime_types().indexOf(EXEC_MIME_TYPE) == -1) {\n      register_renderer(events, OutputArea);\n    }\n  }\n  if (typeof (root._bokeh_timeout) === \"undefined\" || force === true) {\n    root._bokeh_timeout = Date.now() + 5000;\n    root._bokeh_failed_load = false;\n  }\n\n  const NB_LOAD_WARNING = {'data': {'text/html':\n     \"<div style='background-color: #fdd'>\\n\"+\n     \"<p>\\n\"+\n     \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n     \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n     \"</p>\\n\"+\n     \"<ul>\\n\"+\n     \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n     \"<li>use INLINE resources instead, as so:</li>\\n\"+\n     \"</ul>\\n\"+\n     \"<code>\\n\"+\n     \"from bokeh.resources import INLINE\\n\"+\n     \"output_notebook(resources=INLINE)\\n\"+\n     \"</code>\\n\"+\n     \"</div>\"}};\n\n  function display_loaded() {\n    const el = document.getElementById(\"df316840-9279-4e4b-9d5b-724538acf5c2\");\n    if (el != null) {\n      el.textContent = \"BokehJS is loading...\";\n    }\n    if (root.Bokeh !== undefined) {\n      if (el != null) {\n        el.textContent = \"BokehJS \" + root.Bokeh.version + \" successfully loaded.\";\n      }\n    } else if (Date.now() < root._bokeh_timeout) {\n      setTimeout(display_loaded, 100)\n    }\n  }\n\n  function run_callbacks() {\n    try {\n      root._bokeh_onload_callbacks.forEach(function(callback) {\n        if (callback != null)\n          callback();\n      });\n    } finally {\n      delete root._bokeh_onload_callbacks\n    }\n    console.debug(\"Bokeh: all callbacks have finished\");\n  }\n\n  function load_libs(css_urls, js_urls, callback) {\n    if (css_urls == null) css_urls = [];\n    if (js_urls == null) js_urls = [];\n\n    root._bokeh_onload_callbacks.push(callback);\n    if (root._bokeh_is_loading > 0) {\n      console.debug(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n      return null;\n    }\n    if (js_urls == null || js_urls.length === 0) {\n      run_callbacks();\n      return null;\n    }\n    console.debug(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n    root._bokeh_is_loading = css_urls.length + js_urls.length;\n\n    function on_load() {\n      root._bokeh_is_loading--;\n      if (root._bokeh_is_loading === 0) {\n        console.debug(\"Bokeh: all BokehJS libraries/stylesheets loaded\");\n        run_callbacks()\n      }\n    }\n\n    function on_error(url) {\n      console.error(\"failed to load \" + url);\n    }\n\n    for (let i = 0; i < css_urls.length; i++) {\n      const url = css_urls[i];\n      const element = document.createElement(\"link\");\n      element.onload = on_load;\n      element.onerror = on_error.bind(null, url);\n      element.rel = \"stylesheet\";\n      element.type = \"text/css\";\n      element.href = url;\n      console.debug(\"Bokeh: injecting link tag for BokehJS stylesheet: \", url);\n      document.body.appendChild(element);\n    }\n\n    for (let i = 0; i < js_urls.length; i++) {\n      const url = js_urls[i];\n      const element = document.createElement('script');\n      element.onload = on_load;\n      element.onerror = on_error.bind(null, url);\n      element.async = false;\n      element.src = url;\n      console.debug(\"Bokeh: injecting script tag for BokehJS library: \", url);\n      document.head.appendChild(element);\n    }\n  };\n\n  function inject_raw_css(css) {\n    const element = document.createElement(\"style\");\n    element.appendChild(document.createTextNode(css));\n    document.body.appendChild(element);\n  }\n\n  const js_urls = [\"https://cdn.bokeh.org/bokeh/release/bokeh-3.1.1.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-gl-3.1.1.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-widgets-3.1.1.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-tables-3.1.1.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-mathjax-3.1.1.min.js\"];\n  const css_urls = [];\n\n  const inline_js = [    function(Bokeh) {\n      Bokeh.set_log_level(\"info\");\n    },\nfunction(Bokeh) {\n    }\n  ];\n\n  function run_inline_js() {\n    if (root.Bokeh !== undefined || force === true) {\n          for (let i = 0; i < inline_js.length; i++) {\n      inline_js[i].call(root, root.Bokeh);\n    }\nif (force === true) {\n        display_loaded();\n      }} else if (Date.now() < root._bokeh_timeout) {\n      setTimeout(run_inline_js, 100);\n    } else if (!root._bokeh_failed_load) {\n      console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n      root._bokeh_failed_load = true;\n    } else if (force !== true) {\n      const cell = $(document.getElementById(\"df316840-9279-4e4b-9d5b-724538acf5c2\")).parents('.cell').data().cell;\n      cell.output_area.append_execute_result(NB_LOAD_WARNING)\n    }\n  }\n\n  if (root._bokeh_is_loading === 0) {\n    console.debug(\"Bokeh: BokehJS loaded, going straight to plotting\");\n    run_inline_js();\n  } else {\n    load_libs(css_urls, js_urls, function() {\n      console.debug(\"Bokeh: BokehJS plotting callback run at\", now());\n      run_inline_js();\n    });\n  }\n}(window));",
+      "application/javascript": "(function(root) {\n  function now() {\n    return new Date();\n  }\n\n  const force = true;\n\n  if (typeof root._bokeh_onload_callbacks === \"undefined\" || force === true) {\n    root._bokeh_onload_callbacks = [];\n    root._bokeh_is_loading = undefined;\n  }\n\nconst JS_MIME_TYPE = 'application/javascript';\n  const HTML_MIME_TYPE = 'text/html';\n  const EXEC_MIME_TYPE = 'application/vnd.bokehjs_exec.v0+json';\n  const CLASS_NAME = 'output_bokeh rendered_html';\n\n  /**\n   * Render data to the DOM node\n   */\n  function render(props, node) {\n    const script = document.createElement(\"script\");\n    node.appendChild(script);\n  }\n\n  /**\n   * Handle when an output is cleared or removed\n   */\n  function handleClearOutput(event, handle) {\n    const cell = handle.cell;\n\n    const id = cell.output_area._bokeh_element_id;\n    const server_id = cell.output_area._bokeh_server_id;\n    // Clean up Bokeh references\n    if (id != null && id in Bokeh.index) {\n      Bokeh.index[id].model.document.clear();\n      delete Bokeh.index[id];\n    }\n\n    if (server_id !== undefined) {\n      // Clean up Bokeh references\n      const cmd_clean = \"from bokeh.io.state import curstate; print(curstate().uuid_to_server['\" + server_id + \"'].get_sessions()[0].document.roots[0]._id)\";\n      cell.notebook.kernel.execute(cmd_clean, {\n        iopub: {\n          output: function(msg) {\n            const id = msg.content.text.trim();\n            if (id in Bokeh.index) {\n              Bokeh.index[id].model.document.clear();\n              delete Bokeh.index[id];\n            }\n          }\n        }\n      });\n      // Destroy server and session\n      const cmd_destroy = \"import bokeh.io.notebook as ion; ion.destroy_server('\" + server_id + \"')\";\n      cell.notebook.kernel.execute(cmd_destroy);\n    }\n  }\n\n  /**\n   * Handle when a new output is added\n   */\n  function handleAddOutput(event, handle) {\n    const output_area = handle.output_area;\n    const output = handle.output;\n\n    // limit handleAddOutput to display_data with EXEC_MIME_TYPE content only\n    if ((output.output_type != \"display_data\") || (!Object.prototype.hasOwnProperty.call(output.data, EXEC_MIME_TYPE))) {\n      return\n    }\n\n    const toinsert = output_area.element.find(\".\" + CLASS_NAME.split(' ')[0]);\n\n    if (output.metadata[EXEC_MIME_TYPE][\"id\"] !== undefined) {\n      toinsert[toinsert.length - 1].firstChild.textContent = output.data[JS_MIME_TYPE];\n      // store reference to embed id on output_area\n      output_area._bokeh_element_id = output.metadata[EXEC_MIME_TYPE][\"id\"];\n    }\n    if (output.metadata[EXEC_MIME_TYPE][\"server_id\"] !== undefined) {\n      const bk_div = document.createElement(\"div\");\n      bk_div.innerHTML = output.data[HTML_MIME_TYPE];\n      const script_attrs = bk_div.children[0].attributes;\n      for (let i = 0; i < script_attrs.length; i++) {\n        toinsert[toinsert.length - 1].firstChild.setAttribute(script_attrs[i].name, script_attrs[i].value);\n        toinsert[toinsert.length - 1].firstChild.textContent = bk_div.children[0].textContent\n      }\n      // store reference to server id on output_area\n      output_area._bokeh_server_id = output.metadata[EXEC_MIME_TYPE][\"server_id\"];\n    }\n  }\n\n  function register_renderer(events, OutputArea) {\n\n    function append_mime(data, metadata, element) {\n      // create a DOM node to render to\n      const toinsert = this.create_output_subarea(\n        metadata,\n        CLASS_NAME,\n        EXEC_MIME_TYPE\n      );\n      this.keyboard_manager.register_events(toinsert);\n      // Render to node\n      const props = {data: data, metadata: metadata[EXEC_MIME_TYPE]};\n      render(props, toinsert[toinsert.length - 1]);\n      element.append(toinsert);\n      return toinsert\n    }\n\n    /* Handle when an output is cleared or removed */\n    events.on('clear_output.CodeCell', handleClearOutput);\n    events.on('delete.Cell', handleClearOutput);\n\n    /* Handle when a new output is added */\n    events.on('output_added.OutputArea', handleAddOutput);\n\n    /**\n     * Register the mime type and append_mime function with output_area\n     */\n    OutputArea.prototype.register_mime_type(EXEC_MIME_TYPE, append_mime, {\n      /* Is output safe? */\n      safe: true,\n      /* Index of renderer in `output_area.display_order` */\n      index: 0\n    });\n  }\n\n  // register the mime type if in Jupyter Notebook environment and previously unregistered\n  if (root.Jupyter !== undefined) {\n    const events = require('base/js/events');\n    const OutputArea = require('notebook/js/outputarea').OutputArea;\n\n    if (OutputArea.prototype.mime_types().indexOf(EXEC_MIME_TYPE) == -1) {\n      register_renderer(events, OutputArea);\n    }\n  }\n  if (typeof (root._bokeh_timeout) === \"undefined\" || force === true) {\n    root._bokeh_timeout = Date.now() + 5000;\n    root._bokeh_failed_load = false;\n  }\n\n  const NB_LOAD_WARNING = {'data': {'text/html':\n     \"<div style='background-color: #fdd'>\\n\"+\n     \"<p>\\n\"+\n     \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n     \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n     \"</p>\\n\"+\n     \"<ul>\\n\"+\n     \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n     \"<li>use INLINE resources instead, as so:</li>\\n\"+\n     \"</ul>\\n\"+\n     \"<code>\\n\"+\n     \"from bokeh.resources import INLINE\\n\"+\n     \"output_notebook(resources=INLINE)\\n\"+\n     \"</code>\\n\"+\n     \"</div>\"}};\n\n  function display_loaded() {\n    const el = document.getElementById(\"d94072da-687a-4aef-ac17-3c4c8b978ae5\");\n    if (el != null) {\n      el.textContent = \"BokehJS is loading...\";\n    }\n    if (root.Bokeh !== undefined) {\n      if (el != null) {\n        el.textContent = \"BokehJS \" + root.Bokeh.version + \" successfully loaded.\";\n      }\n    } else if (Date.now() < root._bokeh_timeout) {\n      setTimeout(display_loaded, 100)\n    }\n  }\n\n  function run_callbacks() {\n    try {\n      root._bokeh_onload_callbacks.forEach(function(callback) {\n        if (callback != null)\n          callback();\n      });\n    } finally {\n      delete root._bokeh_onload_callbacks\n    }\n    console.debug(\"Bokeh: all callbacks have finished\");\n  }\n\n  function load_libs(css_urls, js_urls, callback) {\n    if (css_urls == null) css_urls = [];\n    if (js_urls == null) js_urls = [];\n\n    root._bokeh_onload_callbacks.push(callback);\n    if (root._bokeh_is_loading > 0) {\n      console.debug(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n      return null;\n    }\n    if (js_urls == null || js_urls.length === 0) {\n      run_callbacks();\n      return null;\n    }\n    console.debug(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n    root._bokeh_is_loading = css_urls.length + js_urls.length;\n\n    function on_load() {\n      root._bokeh_is_loading--;\n      if (root._bokeh_is_loading === 0) {\n        console.debug(\"Bokeh: all BokehJS libraries/stylesheets loaded\");\n        run_callbacks()\n      }\n    }\n\n    function on_error(url) {\n      console.error(\"failed to load \" + url);\n    }\n\n    for (let i = 0; i < css_urls.length; i++) {\n      const url = css_urls[i];\n      const element = document.createElement(\"link\");\n      element.onload = on_load;\n      element.onerror = on_error.bind(null, url);\n      element.rel = \"stylesheet\";\n      element.type = \"text/css\";\n      element.href = url;\n      console.debug(\"Bokeh: injecting link tag for BokehJS stylesheet: \", url);\n      document.body.appendChild(element);\n    }\n\n    for (let i = 0; i < js_urls.length; i++) {\n      const url = js_urls[i];\n      const element = document.createElement('script');\n      element.onload = on_load;\n      element.onerror = on_error.bind(null, url);\n      element.async = false;\n      element.src = url;\n      console.debug(\"Bokeh: injecting script tag for BokehJS library: \", url);\n      document.head.appendChild(element);\n    }\n  };\n\n  function inject_raw_css(css) {\n    const element = document.createElement(\"style\");\n    element.appendChild(document.createTextNode(css));\n    document.body.appendChild(element);\n  }\n\n  const js_urls = [\"https://cdn.bokeh.org/bokeh/release/bokeh-3.1.1.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-gl-3.1.1.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-widgets-3.1.1.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-tables-3.1.1.min.js\", \"https://cdn.bokeh.org/bokeh/release/bokeh-mathjax-3.1.1.min.js\"];\n  const css_urls = [];\n\n  const inline_js = [    function(Bokeh) {\n      Bokeh.set_log_level(\"info\");\n    },\nfunction(Bokeh) {\n    }\n  ];\n\n  function run_inline_js() {\n    if (root.Bokeh !== undefined || force === true) {\n          for (let i = 0; i < inline_js.length; i++) {\n      inline_js[i].call(root, root.Bokeh);\n    }\nif (force === true) {\n        display_loaded();\n      }} else if (Date.now() < root._bokeh_timeout) {\n      setTimeout(run_inline_js, 100);\n    } else if (!root._bokeh_failed_load) {\n      console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n      root._bokeh_failed_load = true;\n    } else if (force !== true) {\n      const cell = $(document.getElementById(\"d94072da-687a-4aef-ac17-3c4c8b978ae5\")).parents('.cell').data().cell;\n      cell.output_area.append_execute_result(NB_LOAD_WARNING)\n    }\n  }\n\n  if (root._bokeh_is_loading === 0) {\n    console.debug(\"Bokeh: BokehJS loaded, going straight to plotting\");\n    run_inline_js();\n  } else {\n    load_libs(css_urls, js_urls, function() {\n      console.debug(\"Bokeh: BokehJS plotting callback run at\", now());\n      run_inline_js();\n    });\n  }\n}(window));",
       "application/vnd.bokehjs_load.v0+json": ""
      },
      "metadata": {},
@@ -130,7 +121,18 @@
     "\n",
     "output_notebook()\n",
     "psize = 450\n",
-    "colours = ['#29788E', '#DD4968', '#410967']"
+    "colours = [\n",
+    "    '#29788E', '#DD4968', '#410967', '#44BFC8', '#F76F8E',\n",
+    "    '#8B1E3F', '#81C784', '#FFB74D', '#9575CD', '#F06292',\n",
+    "    '#4DB6AC', '#BA68C8', '#7986CB', '#AED581', '#FF8A65',\n",
+    "    '#E57373', '#64B5F6', '#4FC3F7', '#81D4FA', '#4DD0E1',\n",
+    "    '#26A69A', '#66BB6A', '#D4E157', '#FFEE58', '#FFCA28',\n",
+    "    '#FFA726', '#FF7043', '#8D6E63', '#BDBDBD', '#78909C',\n",
+    "    '#90CAF9', '#A5D6A7', '#FFF59D', '#FFD54F', '#FFCC80',\n",
+    "    '#FFAB91', '#CE93D8', '#F48FB1', '#B39DDB', '#80DEEA',\n",
+    "    '#A1887F', '#E0E0E0', '#E6EE9C', '#C5E1A5', '#FFCDD2',\n",
+    "    '#F0F4C3', '#B0BEC5', '#B2EBF2', '#DCEDC8', '#F5F5F5'\n",
+    "]"
    ]
   },
   {
@@ -138,18 +140,11 @@
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@@ -196,18 +184,11 @@
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-     "text": [
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+      "application/vnd.bokehjs_exec.v0+json": ""
+     },
+     "metadata": {
+      "application/vnd.bokehjs_exec.v0+json": {
+       "id": "p2386"
+      }
+     },
+     "output_type": "display_data"
     }
    ],
    "source": [
@@ -254,7 +279,7 @@
     "        line_color=colours[colour_i],\n",
     "    )\n",
     "    duration.legend.label_text_font_size = '11px'\n",
-    "    duration.xaxis[0].formatter = DatetimeTickFormatter(seconds=['%Ss'])\n",
+    "    duration.xaxis[0].formatter = DatetimeTickFormatter(seconds='%Ss')\n",
     "\n",
     "    # Histogram\n",
     "    dur_hist, edges = np.histogram(duration_df['duration'])\n",
@@ -288,20 +313,11 @@
    "execution_count": 7,
    "metadata": {},
    "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "BokehDeprecationWarning: Passing lists of formats for DatetimeTickFormatter scales was deprecated in Bokeh 3.0. Configure a single string format for each scale\n",
-      "BokehDeprecationWarning: Passing lists of formats for DatetimeTickFormatter scales was deprecated in Bokeh 3.0. Configure a single string format for each scale\n",
-      "BokehDeprecationWarning: Passing lists of formats for DatetimeTickFormatter scales was deprecated in Bokeh 3.0. Configure a single string format for each scale\n"
-     ]
-    },
     {
      "data": {
       "text/html": [
        "\n",
-       "  <div id=\"f795de6a-9be7-48a3-9709-f0f44d483dc3\" data-root-id=\"p1913\" style=\"display: contents;\"></div>\n"
+       "  <div id=\"c95958fb-f727-4ad0-a1a2-c3149680669e\" data-root-id=\"p2646\" style=\"display: contents;\"></div>\n"
       ]
      },
      "metadata": {},
@@ -309,12 +325,12 @@
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       "application/vnd.bokehjs_exec.v0+json": ""
      },
      "metadata": {
       "application/vnd.bokehjs_exec.v0+json": {
-       "id": "p1913"
+       "id": "p2646"
       }
      },
      "output_type": "display_data"
@@ -352,11 +368,244 @@
     "    )\n",
     "    colour_i += 1\n",
     "    duration.legend.label_text_font_size = '11px'\n",
-    "    duration.xaxis[0].formatter = DatetimeTickFormatter(seconds=['%Ss'])\n",
+    "    duration.xaxis[0].formatter = DatetimeTickFormatter(seconds='%Ss')\n",
     "\n",
     "show(duration)"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Callback Symbol: void (rclcpp::TimeSource::?)(std::shared_ptr<rcl_interfaces::msg::ParameterEvent>)\n",
+      "Average Duration: 0.00 ms\n",
+      "Jitter (Standard Deviation): 0.00 ms\n"
+     ]
+    },
+    {
+     "data": {
+      "text/html": [
+       "\n",
+       "  <div id=\"c557f6f3-fa91-412a-b687-2ce2399e33cc\" data-root-id=\"p3230\" style=\"display: contents;\"></div>\n"
+      ]
+     },
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+      "application/vnd.bokehjs_exec.v0+json": ""
+     },
+     "metadata": {
+      "application/vnd.bokehjs_exec.v0+json": {
+       "id": "p5124"
+      }
+     },
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "# Plot durations separately (with avg and jitter)\n",
+    "colour_i = 0\n",
+    "for obj, symbol in callback_symbols.items():\n",
+    "    owner_info = data_util.get_callback_owner_info(obj)\n",
+    "    if owner_info is None:\n",
+    "        owner_info = '[unknown]'\n",
+    "\n",
+    "    # Duration\n",
+    "    duration_df = data_util.get_callback_durations(obj)\n",
+    "\n",
+    "    # Calculate average duration and jitter (standard deviation)\n",
+    "    average_duration = duration_df['duration'].mean()\n",
+    "    # If there's more than one data point, calculate jitter (standard deviation)\n",
+    "    if len(duration_df) > 1:\n",
+    "        jitter = duration_df['duration'].std()\n",
+    "    else:\n",
+    "        jitter = 0\n",
+    "\n",
+    "    # Print average and jitter for each callback\n",
+    "    print(f\"Callback Symbol: {symbol}\")\n",
+    "    print(f\"Average Duration: {average_duration:.2f} ms\")\n",
+    "    print(f\"Jitter (Standard Deviation): {jitter:.2f} ms\")\n",
+    "\n",
+    "    starttime = duration_df.loc[:, 'timestamp'].iloc[0].strftime('%Y-%m-%d %H:%M')\n",
+    "    source = ColumnDataSource(duration_df)\n",
+    "\n",
+    "    duration = figure(\n",
+    "        title=f\"{owner_info} | Avg Duration: {average_duration:.2f} ms | Jitter: {jitter:.2f} ms\",\n",
+    "        x_axis_label=f'start ({starttime})',\n",
+    "        y_axis_label='duration (ms)',\n",
+    "        width=psize, height=psize,\n",
+    "    )\n",
+    "    duration.title.align = 'center'\n",
+    "    duration.line(\n",
+    "        x='timestamp',\n",
+    "        y='duration',\n",
+    "        legend_label=str(symbol),\n",
+    "        line_width=2,\n",
+    "        source=source,\n",
+    "        line_color=colours[colour_i],\n",
+    "    )\n",
+    "    duration.legend.label_text_font_size = '11px'\n",
+    "    duration.xaxis[0].formatter = DatetimeTickFormatter(seconds='%Ss')\n",
+    "\n",
+    "    # Histogram\n",
+    "    dur_hist, edges = np.histogram(duration_df['duration'])\n",
+    "    duration_hist = pd.DataFrame({\n",
+    "        'duration': dur_hist, \n",
+    "        'left': edges[:-1], \n",
+    "        'right': edges[1:],\n",
+    "    })\n",
+    "    hist = figure(\n",
+    "        title='Duration histogram',\n",
+    "        x_axis_label='duration (ms)',\n",
+    "        y_axis_label='frequency',\n",
+    "        width=psize, height=psize,\n",
+    "    )\n",
+    "    hist.title.align = 'center'\n",
+    "    hist.quad(\n",
+    "        bottom=0,\n",
+    "        top=duration_hist['duration'], \n",
+    "        left=duration_hist['left'],\n",
+    "        right=duration_hist['right'],\n",
+    "        fill_color=colours[colour_i],\n",
+    "        line_color=colours[colour_i],\n",
+    "    )\n",
+    "\n",
+    "    colour_i += 1\n",
+    "    show(row(duration, hist))"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,