Callback

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.

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

• Trace points | Callback Start
• Trace points | Callback End
• RuntimeDataProvider API