tracetools_analysis

Analysis tools for ROS 2 tracing.

Setup

To display results, install:

• Jupyter
• Bokeh

Trace analysis

After generating a trace (see ros2_tracing), we can analyze it to extract useful execution data.

Since CTF traces (the output format of the LTTng tracer) are very slow to read, we first convert them into a single file which can be read much faster.

$ ros2 trace-analysis convert /path/to/trace/directory

Then we can process it to create a data model which could be queried for analysis.

$ ros2 trace-analysis process /path/to/trace/directory

This last command will process and output the raw data models, but to actually display results, process and analyze using a Jupyter Notebook.

$ jupyter notebook

Then navigate to the analysis/ directory, and select one of the provided notebooks, or create your own!

Design

See the ros2_tracing design document, especially the Goals and requirements and Analysis architecture sections.