Support tracepoints for complex message flow annotation used by ROS 2 plugin of Eclipse Trace Compass #233
+609
−2
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com> Signed-off-by: Christophe Bedard <christophe.bedard@apex.ai>
Signed-off-by: Raphael van Kempen <raphael.vankempen@ika.rwth-aachen.de>
Signed-off-by: Raphael van Kempen <raphael.vankempen@ika.rwth-aachen.de>
Signed-off-by: Raphael van Kempen <raphael.vankempen@ika.rwth-aachen.de>
Signed-off-by: Raphael van Kempen <raphael.vankempen@ika.rwth-aachen.de>
RaphvK
force-pushed
the
message-link-instrumentation-rolling
branch
from
5d56e1e to
d78a56f
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
The
ros2_tracingREADME 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 addingTRACETOOLS_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 themessage_link_*tracepoints to the default events handled by the tracetools_launch.action.Trace() ROS action.Test cases for
message_link_partial_syncandmessage_link_periodic_asyncwere also added.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