Changelog

CARET

v0.4.22 _ Dec 12, 2023

• Update Support for analysis of trace data without --light option for applications using GenericPublisher, GenericSubscription. (caret_analyze #432, caret_analyze #445)

• Update Fixed a bug when address duplication occurs. (caret_analyze #342)

• Update Update some API to support sim_time. (caret_analyze #433, ros2caret #152)

v0.4.21 _ Nov 27, 2023

• Update: Update maintainer. (caret_analyze #422, caret_analyze_cpp_impl #172, caret_trace #244, ros2caret #143)

• New: Add trace points to GenericPublisher and GenericSubscription. (rclcpp #7, caret_trace #220, caret_trace #228, caret_doc #309)

• Update: Fix for mypy error in CARET_analyze PR. Support for mypy v1.x. (caret_analyze #425)

• Update: Changed Y-axis from probability to number of samples for better readability of graphs. (caret_analyze #430, caret_doc #313)

v0.4.20 _ Nov 13, 2023

• Update: Update documentation with changes to ros2 caret command. (caret_doc #295)

• Update: Update tracepoint event 'caret_init'. (caret_doc #304)

• Update: Support for bokeh 3.x. (caret_analyze #391)

• Update: Change in the method of 'Timeseries'. The method of calculating ResponseTime for the best and worst-with-external-latency cases has been changed to be the same as for all and worst case. (caret_analyze #323)

• New: Changed the CI for caret_analyze to use cart_analyze_cpp_impl. (caret_analyze #405)

• Update: Unify graph captions for path. (caret_analyze #410)

v0.4.19 _ Oct 31, 2023

• Update: Improvement of option specification of ros2 caret command. (ros2caret #129), (caret_doc #287), (caret #176)

• Update: Version update support for multimethod. (caret_analyze #403), (caret_analyze #398)

v0.4.18 _ Oct 16, 2023

• New: Supported for iron tracepoint. (caret_analyze #318), (caret_trace #150), (ros2caret #84), (ros2caret #86)
  • Humble trace data and its analysis will still be available in later versions.
• New: Added immediate recoding option to ros2caret. (ros2caret #123)
• New: Added an option to ros2caret to specify the size of the Lttng buffer. (ros2caret #85)

v0.4.17 _ Oct 03, 2023

• Update: Improved case option for calculating the elapsed time specified for functions that graph response time. (caret_analyze #339), (caret_analyze #355)
  • Added new "all" option, which uses all input times in the same cycle to calculate the elapsed time.
  • Renamed "worst" option to "worst-with-external-latency".
  • Added new "worst" option, which uses the worst of all input times in the same cycle to calculate the elapsed time.

CARET<0.4.17	CARET>=v0.4.7
N/A	"all"
"best"	"best"
N/A	"worst"
"worst"	"worst-with-external-latency"

• Update: Added create_response_time_histogram_plot function to graph response time as histogram. (caret_analyze #349)
• Fix: Improved measurement leaks in the first measurement after the host machine has been started up. (caret #142)
• Removed unnecessary dependent modules from caret_analyze_cpp_impl. (caret_analyze_cpp_impl #142), (caret_analyze #332)

v0.4.16.1 _ Sep 21, 2023

• Fix: Fixed an issue that prevented CARETmeasurement when using cyclonedds 0.10.x. (caret #121)
• New: Added API to plot the response time of Paths as timeseries. (caret_analyze #322)
• Changed to temporarily specify the version of setuptools to be installed, as the latest setuptools causes error during CARET building. (caret_analyze #330)

v0.4.15 _ Sep 4, 2023

• Updated the version of humble branch in tier4/rclcpp repository, which is forked from ros2/rclcpp, from 16.0.1 to 16.0.5. (rclcpp #4)
• Refactored and added APIs to calculate response time, these are a preparation to add options for visualizing graph in the future update. (caret_analyze #310), (caret_analyze #313), (caret_analyze #319)
• Fixed typo in CMakeLists.txt. (caret_analyze_cpp_impl #131)
• Specified Pandas library version as '<2.1.0' to avoid problems with the Pandas library 2.1.0. (caret_analyze #324)
• Fixed to force loading process to ignore the second and subsequent callbacks even if "Duplicated callback id" occurs during CARET analyzing. (caret_analyze #314)

v0.4.14 _ Aug 21, 2023

• Supported for function argument changes in ros/ros2_tracing. This support is in preparation for functionality improvements that will make rebuilding of the measurement application unnecessary. (rclcpp #2), (ros2_tracing #5), (caret_trace #136), (caret_analyze #302), (caret_doc #204)
  • This change affects trace data compatibility. However, this only affects cases where trace data captured after this update is analyzed by caret_analyze before this update. Please see the table below for the supported combinations.

	trace data (<=0.4.13)	trace data (>=v0.4.14)
caret_analyze (<=v0.4.13)	Supported	Unsupported
caret_analyze (>=v0.4.14)	Supported	Supported

• Adjusted Lttng buffer size to appropriate value. (ros2_tracing #6)
• Fixed a build error that occurred in environments older than Python 3.10. (ros2caret #81)

v0.4.13 _ Jul 24, 2023

• Fixed a bug that delayed starting a measurement after caret record is launched depending on the time elapsed after the application being measured was launched. (caret_trace #129)

v0.4.12 _ Jul 10, 2023

• Fixed a bug in the Plot class API that could not create graphs correctly when the xaxis_type='sim_time' option was specified. (caret_analyze #276), (caret_analyze #306)
• Fixed a bug that caused incorrect warnings to be output when using ros2 caret check_ctf. (caret_analyze #308)

v0.4.11 _ Jun 26, 2023

• Applied to the type hinting for generics in standard collections adopted from Python 3.9. (caret_analyze #294), (caret_analyze #299)
• Fixed a segmentation fault problem that occurred depending on the condition of the data analyzed by caret_analyze. (caret_analyze_cpp_impl #79)
• Added ros2 caret version command to get the CARET version. (ros2caret #69)

v0.4.10 _ Jun 12, 2023

• Update: Changed trace points used to tie records of inter-process communication. This change affects trace data compatibility. However, this only affects cases where trace data captured after this update is analyzed by caret_analyze before this update. In that case, update caret_analyze (caret_analyze #296), (caret_trace #113), (caret_doc #191), (ros2caret #70)
  • Please see the table below for the supported combinations

	trace data (<=0.4.9)	trace data (>=v0.4.10)
caret_analyze (<=v0.4.9)	Supported	Unsupported
caret_analyze (>=v0.4.10)	Supported	Supported

• Added remove functions to modify intra-node data path: remove_variable_passing and remove_publisher_callback (caret_analyze #297)

v0.4.9 _ May 15, 2023

• Update:Improved path analysis to analyze paths that contain the same symbol object (caret_analyze #261), (caret_doc #183)
• Improved Plot class not to plot on a graph when communication is not established (caret_analyze #291), (caret_doc #184)
• Removed old modules: node_graph and callback_graph (caret_analyze #290)

v0.4.8 _ May 1, 2023

• Removed deprecated interface such as message_flow (caret_analyze #179), (caret_analyze #274), (caret_analyze #282)
• Reduced warnings when loading trace data (caret_analyze #284)

v0.4.7 _ Apr 17, 2023

• Refactored the Plot package design (caret_analyze #267), (caret_analyze #275), (caret_analyze #277), (caret_analyze #278), (caret_analyze #279), (caret_analyze #280)

v0.4.6 _ Apr 3, 2023

• New: Added function to visualize response time with the stacked bar graph(caret_analyze #265, caret_analyze #259, caret_doc #169)
• Update: Added selective path definition to include or exclude first and last callback execution (caret_analyze #263, caret_analyze #271, caret_analyze #272, caret_analyze #273)
• Added a new function to get difference between two Architecture objects (caret_analyze #245, caret_doc #168)
• Removed deprecated interface such as callback_sched and Plot.create_*_plot (caret_analyze #266)
• Refactored visualization API such as message_flow (caret_analyze #267)

v0.4.5 _ Mar 20, 2023

• Enhanced the trace filtering to exclude selected DDS events (caret_trace #101)
• Added the unit to the label of y-axis on time-series graph (caret_analyze #256)
• Refactored the Plot package (caret_analyze #257, caret_analyze #258)
• Added the docstring for explaining rename methods for Architecture object (caret_analyze #253)

v0.4.4 _ Feb 21, 2023

• Fixed the time format of the time-series graphs (caret_analyze #255)
• Added the design documentation for trace filtering to exclude events in DDS-layer (caret_doc #158)
• Moved get_range() function to record package (caret_analyze #254)

v0.4.3 _ Feb 10, 2023

• Fixed the bug preventing check_ctf from running properly after supporting activation/deactivation on runtime (caret_analyze #251)
• Suppressed update frequency of progress bar from tqdm when reading trace data (caret_analyze #248)
• Fixed incorrect annotation from list to List (caret_analyze #252)
• Changed setup_caret.bash script to prompt users to install the packages (caret #72)

v0.4.2 _ Jan 23, 2023

• Added lightweight recording option to ros2caret (ros2caret #63)
• Removed old interface of Plot.create_callback_jitter_plot (caret_analyze #231)
• Refactored Plot.create_callback_scheduling_plot (caret_analyze #240)
• Added new API to combine two paths found by Architecture.search_paths() (caret_analyze #224)
• Fixed the bug in Records class (caret_analyze #246)
• Applied minor refactoring (caret_analyze #244, caret_analyze #243, caret_analyze #237, caret_analyze #234)
• Suppressed warning message outputted during runtime recording (caret_analyze #238, caret_analyze #236)
• Added construction_order item to identify multiple callbacks which have common symbol (caret_analyze #225)

v0.4.1 _ Dec 26, 2022

• New: Added functions to assign intra-node data path with message_context (caret_analyze #196)
• Update: Changed design of visualization API for refactoring to avoid usage of Pandas (caret_analyze #116, caret_analyze #167, caret_analyze #168, caret_analyze #170)
• Added configure file to control log level to suppress warning message (caret_analyze #220)
• Changed behavior of visualization to output empty graph if inputted data does not have any data rather than raising exception (caret_analyze #223)
• Fixed ValueError, when create_publish_subscription_frequency_plot is called with being inputted empty object (caret_analyze #227)
• Added metric name to tooltip for identifying plots on a graph

v0.4.0 _ Dec 16, 2022

• New: Added a new feature to start, stop, and resume even recording whenever users want to (caret_trace #68, caret_analyze #190, ros2caret #48, and caret_doc #126)

v0.3.4 _ Dec 12, 2022

• New: Added functions to rename subsystems in Architecture object like executor, node, callback and topic (caret_analyze#156)
• Suppressed warning messages, which are outputted because service event is not supported, during trace data loading (caret_analyze#192)
• Fixed bug which calculated incorrect period or frequency (caret_analyze#213)
• Fixed error messages from Mypy (caret_analyze#211)

v0.3.3 _ Nov 28, 2022

• Added guidances for a beginner to avoid getting stuck in unexpected cases (caret_analyze #200 and caret_analyze #186)
• Added publishers and subscriptions properties to Architecture and Application classes (caret_analyze #179, caret_analyze #180)
• Added function to update cache file named as caret_converted (caret_analyze#189)
• Suppressed unnecessary warnings in check_caret_rclcpp (ros2caret #53, ros2caret #54)
• Improved documentation of installation (caret_doc #111), configuration (caret_doc #112), visualization (caret_doc #98), and design (caret_doc#106)
• Fixed a bug which makes incorrect graphs (caret_analyze #201)

v0.3.2 _ Nov 14, 2022

• Improved warning messages of caret_analyze (caret_analyze #144, caret_analyze #158, caret_analyze #162, caret_analyze #172, caret_analyze #182)
• Added properties of publishers and subscriptions to Application and Architecture object(caret_analyze #179)
• Improved ros2caret(ros2caret #44, ros2caret #50)
• Enlarged buffer size(ros2_tracing #2)
• Added some minor changes (caret_analyze #183, caret_analyze #187)

v0.3.1 _ Oct 31, 2022

• Added record function to ros2caret for upcoming feature. (ros2caret #38)
• Added function to display histogram for response time (caret_analyze #165)
• Added API to calculate period and latency (caret_analyze #167, caret_analyze #168)
• Fixed some bugs (caret_analyze #141, caret_analyze #153, caret_analyze #157)
• Refactored Architecture object interface (caret_analyze)
• Added some minor changes (caret_analyze #139, caret_analyze #146, caret_analyze #147, caret_analyze #151, caret_analyze #159, caret_analyze #162, caret_analyze #165, caret_analyze#171)

v0.3.0 _ Sept 26, 2022

• Supported OS: Ubuntu 22.04
• Supported ROS Dist.: ROS Humble
• Imported to Ubuntu 22.04 and ROS Humble
• Added new feature to show response time (caret_analyze #96)
• Added new APIs to visualize frequency, period, and latency of publishes, subscriptions, and communications (caret_analyze #124, #130, #133, #134, #136, #140)
• Reduced memory consumption wasted for recorded data (caret_analyze #100)
• Launched caret_analyze API document
• Added small fixes
  • caret_analyze #107
  • caret_analyze #107
  • caret_analyze #108
  • caret_analyze #109
  • caret_analyze #112
  • caret_analyze #115

v0.2.3 _ July 14, 2022

• Supported OS: Ubuntu 20.04
• Supported ROS Dist.: ROS Galactic
• Improved output message from path.verify() method
• Improved view of graphs
• Added wildcard support for Architecture.callbacks() method
• Added command line function to check trace data
• Fixed specification of Architecture.search_paths() method
• Added function to extract duplicated timer callback

v0.2.2 _ May 2, 2022

• Supported OS: Ubuntu 20.04
• Supported ROS Dist.: ROS Galactic
• Added feature to measure complicated node path
• Added feature to choose optional trace points
• Added Architecture.search_paths() method
• Improved trace filtering function