CLI tools for recording#
CARET provides CLI tools which can be utilized at recording process.
Info
CARET environment settings need to be performed to use these CLI tools by the following commands.
source /opt/ros/humble/setup.bash
source ~/ros2_caret_ws/install/local_setup.bash
Build results validation#
This command checks whether a target application is successfully built with CARET/rclcpp. (See details)
ros2 caret check_caret_rclcpp <path-to-workspace>
---Output text as below---
INFO : 2022-09-29 20:18:43 | All packages are built using caret-rclcpp.
Recording#
This command starts a LTTng session and recording sequence. (See details)
Recording begins after All process started recording is displayed.
ros2 caret record --session-name <session_name> --recording-frequency <recording_frequency> --verbose
Increasing value of <recording_frequency> reduces time required to start recording.
However, if large value is given to <recording_frequency>, recording is more likely to cause Tracer discarded.
-f is the short option for --recording-frequency
[TODO] Add a link to the design page as a reference for details.
With the --verbose option, you can check status for recording sequence in detail.
-v is the short option for --verbose
Trace data validation#
This command checks whether a recording is successful. (See details)
If there are problems with the recorded data, warning messages will be displayed
ros2 caret check_ctf <path-to-trace-data>
Node summary#
This command displays the number of events per node.
ros2 caret node_summary <path-to-trace-data>
---Output text as below---
=============================================
Trace creation datetime | 2022-07-16 17:34:07
Trace range | 17:34:07 ~ 17:35:08
Trace duration | 0:01:00
=============================================
node_name | number_of_trace_points
----------------------+--------------------------
/message_driven_node | 4207
/timer_driven_node | 3630
/filter_node | 2680
/drive_node | 2146
/sensor_dummy_node | 2144
/actuator_dummy_node | 1609
Topic summary#
This command displays the number of events per topic.
ros2 caret topic_summary <path-to-trace-data>
---Output text as below---
=============================================
Trace creation datetime | 2022-07-16 17:34:07
Trace range | 17:34:07 ~ 17:35:08
Trace duration | 0:01:00
=============================================
topic_name | number_of_trace_points
-------------------+--------------------------
/drive | 2668
/topic1 | 2668
/topic2 | 2668
/topic4 | 2658
/topic3 | 2478
/parameter_events | 66
/rosout | 6
Info
If the number of events is too huge to handle, trace filtering is a reasonable choice to exclude unnecessary nodes/topics based on the output result.
Tracepoint summary#
This command displays all tracepoints included in the trace data and the number of events collected by tracepoints.
ros2 caret trace_point_summary <path-to-trace-data>
---Output text as below---
=============================================
Trace creation datetime | 2022-07-16 17:34:07
Trace range | 17:34:07 ~ 17:35:08
Trace duration | 0:01:00
=============================================
trace_point | number_of_trace_points
---------------------------------------------------+--------------------------
ros2:callback_end | 4216
ros2:callback_start | 4216
ros2_caret:dds_write | 2790
ros2_caret:dds_bind_addr_to_stamp | 2790
ros2:rcl_publish | 2650
ros2:rclcpp_publish | 2650
ros2:dispatch_subscription_callback | 2620
ros2:rclcpp_subscription_callback_added | 44
ros2:rclcpp_service_callback_added | 44
ros2:rclcpp_callback_register | 44
ros2:rclcpp_timer_callback_added | 44
ros2_caret:callback_group_add_service | 36
ros2:rcl_service_init | 36
ros2:rcl_publisher_init | 17
ros2_caret:callback_group_add_subscription | 11
ros2:rcl_node_init | 6
ros2_caret:add_callback_group | 6
ros2:rcl_subscription_init | 5
ros2:rclcpp_subscription_init | 5
ros2:rcl_timer_init | 3
ros2:rclcpp_timer_link_node | 3
ros2_caret:callback_group_add_timer | 3
ros2_caret:construct_executor | 1
ros2_caret:rmw_implementation | 1
ros2:rcl_init | 1
ros2:rcl_client_init | 0
ros2:dispatch_intra_process_subscription_callback | 0
ros2_caret:tilde_subscribe_added | 0
ros2_caret:tilde_subscribe | 0
ros2_caret:tilde_publisher_init | 0
ros2_caret:tilde_publish | 0
ros2_caret:sim_time | 0
ros2_caret:on_data_available | 0
ros2:message_construct | 0
ros2_caret:dds_bind_addr_to_addr | 0
ros2_caret:construct_static_executor | 0
ros2:rclcpp_intra_publish | 0
ros2:rcl_lifecycle_transition | 0
ros2:rcl_lifecycle_state_machine_init | 0
ros2_caret:callback_group_add_client | 0
ros2_caret:add_callback_group_static_executor | 0
ros2_caret:tilde_subscription_init | 0
Filtering for summary commands#
Executing a summary command for huge trace data (e.g., more than 10 minutes) takes time. The following two options allow you to filter the load range of trace data used for summary output. In both options, the argument type is float and the unit of time is second.
ros2 caret trace_point_summary <path-to-trace-data> --duration_filter <DURATION> <OFFSET>
ros2 caret trace_point_summary <path-to-trace-data> --strip_filter <LSTRIP> <RSTRIP>
--duration_filter [DURATION] [OFFSET]- Load only this [DURATION] from [OFFSET].
--strip_filter [LSTRIP] [RSTRIP]- Ignore trace data for specified seconds from start/end.
---Output text as below---
=============================================
Trace creation datetime | 2022-07-16 17:34:07
Trace range | 17:34:07 ~ 17:35:08
Trace duration | 0:01:00
Filtered trace range | 17:34:15 ~ 17:34:45
Filtered trace duration | 0:00:29
=============================================
trace_point | number_of_trace_points
---------------------------------------------------+--------------------------
ros2:callback_end | 2385
ros2:callback_start | 2385
ros2:dispatch_subscription_callback | 1485
ros2:rcl_publish | 1484
ros2_caret:dds_write | 1484
ros2_caret:dds_bind_addr_to_stamp | 1484
ros2:rclcpp_publish | 1484
ros2:rclcpp_subscription_callback_added | 44
ros2:rclcpp_service_callback_added | 44
ros2:rclcpp_callback_register | 44
ros2:rclcpp_timer_callback_added | 44
ros2_caret:callback_group_add_service | 36
ros2:rcl_service_init | 36
ros2:rcl_publisher_init | 17
ros2_caret:callback_group_add_subscription | 11
ros2:rcl_node_init | 6
ros2_caret:add_callback_group | 6
ros2:rcl_subscription_init | 5
ros2:rclcpp_subscription_init | 5
ros2:rcl_timer_init | 3
ros2:rclcpp_timer_link_node | 3
ros2_caret:callback_group_add_timer | 3
ros2_caret:construct_executor | 1
ros2_caret:rmw_implementation | 1
ros2:rcl_init | 1
ros2:rcl_client_init | 0
ros2:dispatch_intra_process_subscription_callback | 0
ros2_caret:tilde_subscribe_added | 0
ros2_caret:tilde_subscribe | 0
ros2_caret:tilde_publisher_init | 0
ros2_caret:tilde_publish | 0
ros2_caret:sim_time | 0
ros2_caret:on_data_available | 0
ros2:message_construct | 0
ros2_caret:dds_bind_addr_to_addr | 0
ros2_caret:construct_static_executor | 0
ros2:rclcpp_intra_publish | 0
ros2:rcl_lifecycle_transition | 0
ros2:rcl_lifecycle_state_machine_init | 0
ros2_caret:callback_group_add_client | 0
ros2_caret:add_callback_group_static_executor | 0
ros2_caret:tilde_subscription_init | 0