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Support tracepoints for complex message flow annotation used by ROS 2 plugin of Eclipse Trace Compass #230

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RaphvK wants to merge 37 commits into from
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Support tracepoints for complex message flow annotation used by ROS 2 plugin of Eclipse Trace Compass #230

RaphvK wants to merge 37 commits into from
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@RaphvK RaphvK commented Jan 16, 2026

Description

The ros2_tracing README refers to @christophebedard's paper "Message Flow Analysis with Complex Causal Links for Distributed ROS 2 Systems", which demonstrates how to trace complex ROS message flows, e.g., if one published message depends on two input messages. As shown in his example repository, this is achieved by adding TRACETOOLS_TRACEPOINT(message_link_* ...) calls to the source code to define the input/output relationships.

The ROS 2 Incubator plugin, which is released with Eclipse Trace Compass already supports this type of tracepoints. However, they are not integrated in the released versions of ros2_tracing. Therefore, I rebased the old branch message-link-instrumentation-iron on the current rolling branch and added necessary changes. Additionally, I added the message_link_* tracepoints to the default events handled by the tracetools_launch.action.Trace() ROS action.

Is this user-facing behavior change?

Did you use Generative AI?

Additional Information

I implemented a test setup to verify that the changes work with ROS 2 Rolling: https://github.com/RaphvK/ros2-message-flow-test/tree/rolling

mergify bot and others added 21 commits June 10, 2024 13:08
@mergify @mat-kie
Fix type for buffer index argument in tracepoint event declaration. (r…
8ca3025 
…os2#117) (ros2#119)

Signed-off-by: Mattis Kieffer <62772198+mat-kie@users.noreply.github.com>
(cherry picked from commit 7e8d42e)

Co-authored-by: Mattis Kieffer <62772198+mat-kie@users.noreply.github.com>
@marcoag
Chagnelog.
8182297 
Signed-off-by: Marco A. Gutierrez <marcogg@marcogg.com>
@marcoag
8.2.1
94e9998 
Signed-off-by: Marco A. Gutierrez <marcogg@marcogg.com>
@mergify
Use Ubuntu 24.04 Noble for GitHub CI (ros2#104) (ros2#133)
6a09ad1 
Signed-off-by: Christophe Bedard <christophe.bedard@apex.ai>
@mergify @christophebedard
Make test_tracetools ping pubs/subs transient_local (ros2#125) (ros2#135
97631f5 
)

This will make sure that the initial `/ping` message is received no
matter the launch order of the `*ping` and `*pong` executables.

Also, given this guarantee, cancel the timer after the initial `/ping`
message.

Finally, add some helpful debug logs.

Signed-off-by: Christophe Bedard <christophe.bedard@apex.ai>
(cherry picked from commit 00a4e99)

Co-authored-by: Christophe Bedard <christophe.bedard@apex.ai>
@christophebedard
Run relevant test_tracetools tests with all instrumented rmw impls (r…
7515dd3 
…os2#134)

Signed-off-by: Christophe Bedard <christophe.bedard@apex.ai>
@marcoag
Changelog.
4312914 
Signed-off-by: Marco A. Gutierrez <marcogg@marcogg.com>
@marcoag
8.2.2
5ee6af8 
Signed-off-by: Marco A. Gutierrez <marcogg@marcogg.com>
@mergify @nwn
Add missing dependency on pkg-config to lttngpy (ros2#130) (ros2#136)
73a7e6d 
Signed-off-by: Nathan Wiebe Neufeldt <nwiebeneufeldt@clearpath.ai>
(cherry picked from commit a866b9c)

Co-authored-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
@marcoag
Changelog.
42a0174 
Signed-off-by: Marco A. Gutierrez <marcogg@marcogg.com>
@marcoag
8.2.3
42e26cc 
Signed-off-by: Marco A. Gutierrez <marcogg@marcogg.com>
@mergify @ahcorde
Removed clang warning (ros2#168) (ros2#172)
e1bff2e 
(cherry picked from commit 169c887)

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
@marcoag
Changelog.
1679ecf 
Signed-off-by: Marco A. Gutierrez <marcogg@marcogg.com>
@marcoag
8.2.4
7dc6fa5 
Signed-off-by: Marco A. Gutierrez <marcogg@marcogg.com>
@mergify @mosfet80 @christophebedard
fix setuptools deprecation (ros2#189) (ros2#203)
306f05a 
(cherry picked from commit 526967c)

Signed-off-by: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Co-authored-by: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com>
@mergify @mosfet80
[Fix] compile fail (ros2#194) (ros2#215)
0775968 
(cherry picked from commit e175cde)

Signed-off-by: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Co-authored-by: mosfet80 <10235105+mosfet80@users.noreply.github.com>
@christophebedard @RaphvK
Add message link instrumentation
1b65015 
Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>
Signed-off-by: Christophe Bedard <christophe.bedard@apex.ai>
@RaphvK
add tracepoints for message flow
501f8ab 
Signed-off-by: Raphael van Kempen <raphael.vankempen@ika.rwth-aachen.de>
@RaphvK
fix code style
1e930d6 
Signed-off-by: Raphael van Kempen <raphael.vankempen@ika.rwth-aachen.de>
@RaphvK
Merge rolling into jazzy
b5d75e0
@RaphvK
merge message-link-instrumentation
7f52a65
@RaphvK RaphvK mentioned this pull request Jan 16, 2026
Open
@RaphvK
add message_link events to DEFAULT_INIT_EVENTS_ROS
94146e2 
Signed-off-by: Raphael van Kempen <raphael.vankempen@ika.rwth-aachen.de>
@christophebedard christophebedard self-requested a review January 22, 2026 18:05
@christophebedard christophebedard self-assigned this Jan 22, 2026
RaphvK and others added 10 commits January 29, 2026 08:15
@RaphvK
add periodic asnyc test
a8880f2
@RaphvK
add missing event
577e15a
@RaphvK
uncristify
5b16f4a
@RaphvK
improve formatting
6347b92
@RaphvK
use only relevant tracepoints
bdfa3dc
@christophebedard @RaphvK
Add message link instrumentation
520b871 
Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>
Signed-off-by: Christophe Bedard <christophe.bedard@apex.ai>
@RaphvK
add tracepoints for message flow
db2483f 
Signed-off-by: Raphael van Kempen <raphael.vankempen@ika.rwth-aachen.de>
@RaphvK
fix code style
b7c4405 
Signed-off-by: Raphael van Kempen <raphael.vankempen@ika.rwth-aachen.de>
@RaphvK
add message_link events to DEFAULT_INIT_EVENTS_ROS
672f639 
Signed-off-by: Raphael van Kempen <raphael.vankempen@ika.rwth-aachen.de>
@RaphvK
add tests for message link instrumentation
ddc303b 
Signed-off-by: Raphael van Kempen <raphael.vankempen@ika.rwth-aachen.de>
@RaphvK RaphvK force-pushed the message-link-instrumentation-rolling branch from 9131388 to ddc303b Compare January 29, 2026 10:01
@RaphvK RaphvK closed this Jan 29, 2026
@RaphvK RaphvK deleted the message-link-instrumentation-rolling branch January 29, 2026 10:08
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RaphvK commented Jan 29, 2026

Replaced with new PR including test cases: #233

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