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Error detection using path.verify()#

CARET requires some setup and configuration that users should do. path.verify() method can check the settings are completed. If any error or warning occurs, message from path.verify() give you some instruction to tackle it.

Usage#

from caret_analyze import Architecture, Application, Lttng

# read architecture file.
arch = Architecture('yaml', '/path/to/architecture_file.yaml')

# read trace result.
lttng = Lttng('/path/to/trace_data')

# map architecture information to trace result.
app = Application(arch, lttng)

path = app.get_path('target_path')
path.verify()

What path.verify() checks#

  • Check whether using caret/rclcpp [path.verify()]

    Your applications need to be built with rclcpp provided by CARET, not ROS 2. path.verify() command checks which rclcpp is used for building your application.

    If caret/rclcpp is not applied, the following warning message is outputted on your terminal or Jupyter notebook.

    WARNING : 2022-03-18 12:53:54 | 'caret/rclcpp' may not be used in subscriber of '/localization/pose_estimator/ndt_scan_matcher'.
  • Check if node latency can be calculated with referring to message_context