safe-ros/ros2_profiling

A set of tools and techniques for evaluating performance of ROS 2 based systems

ros2_profiling's Issues

ros2 profile run_tests crashes

If I run ros2 profile run_test ~/.ros/profile/reference_system-20230207090755/ ./src/ros2_profiling/ros2_profiling_demo/test/test_profile.py in a docker container based on this dockerfile:

`FROM osrf/ros:humble-desktop

ARG DEBIAN_FRONTEND=noninteractive

RUN apt-get update && apt-get install -y
lttng-tools liblttng-ust-dev
python3-babeltrace python3-lttng
lttng-modules-dkms
ros-humble-mcap-vendor
python3-pip

RUN pip install mcap-ros2-support pandas
`
For doing that I also had to

• go back to the humble Branch in ros2_tracing
• disable kernel profiling in ros2profile
  

The is the error I'm getting:

I'm getting this warning during the build of cyclonedds though. Maybe this issue is related:

Add unit tests of graph API

Since the GraphAPI is intended to be used for analysis, unit tests need to be added to make sure that the API doesn't change in unexpected ways.

Update lttng-ust installation instructions

Using the message flow branch doesn't work on Ubuntu 22.04. Update the instructions to capture using the correct lttng-ust version.

Add more complete examples

Add more complete examples of the types of metrics to analyze/assert:

• Frequency and Jitter between various test points in the system.
• Sender and timestamp of messages on a topic.

Tolerate subscriptions for which no callback is found

Ocassionally, we get data recordings where the processing via ros2 profile process prompts an error message that association of the subscription callbacks fails:

Traceback (most recent call last):

  File "/opt/ros/humble/bin/ros2", line 33, in <module>

    sys.exit(load_entry_point('ros2cli==0.18.5', 'console_scripts', 'ros2')())

  File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 89, in main

    rc = extension.main(parser=parser, args=args)

  File "~/safe-ros/install/ros2profile/lib/python3.10/site-packages/ros2profile/command/profile.py", line 35, in main

    return extension.main(args=args)

  File "~/safe-ros/install/ros2profile/lib/python3.10/site-packages/ros2profile/verb/process.py", line 27, in main

    process(args.input_path)

  File "~/safe-ros/install/ros2profile/lib/python3.10/site-packages/ros2profile/api/process.py", line 131, in process

    graph = build_graph(events)

  File "~/safe-ros/install/ros2profile/lib/python3.10/site-packages/ros2profile/data/__init__.py", line 136, in build_graph

    _associate_subscription_callbacks(ret)

  File "~/safe-ros/install/ros2profile/lib/python3.10/site-packages/ros2profile/data/__init__.py", line 573, in _associate_subscription_callbacks

    sub_cb_events = subscription.callback.events()

  File "~/safe-ros/install/ros2profile/lib/python3.10/site-packages/ros2profile/data/subscription.py", line 203, in callback

    return self._callback

AttributeError: 'Subscription' object has no attribute '_callback'. Did you mean: 'callback'?

A closer look on the matter showed that this, in our case, was related to the /parameter_events topic for which ignoring a failed callback association (+ printing a warning) seems to be fine to be able to proceed with data analysis. Especially since the issue can occur for a row of subsequent recordings.

Missing python dependencies

There are two dependencies not currently captured in package.xml/setup.py

mcap-ros2-support-python
pandas

Add instructions for Docker

Determine how to use kernel tracing from Docker.

Add support for MessageFilter data association

The data association between publishers and subscriptions currently cannot be performed across something like the MessageFilter or ImageTransport.

In order for these to be correctly analyzed, then we need to associate across these common patterns.