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Callback latency is defined as duration between beginning and end of callback execution. These events are represented as callback_start and callback_end, respectively.

l_{\rm{callback}} = t_{\rm{callback\ end}} - t_{\rm{callback\ start}}

The sequence diagram shows how CARET rclcpp picks up two events; callback_start and callback_end.

uml diagram

to_dataframe API returns a table which has the following columns.

Column Type Description
callback_start System time Callback start time
callback_end System time Callback end time

See also