report_autoware_launch_trace_20221227-150253_universe_rosbag

Version
- Autoware: https://github.com/autowarefoundation/autoware/tree/2022.12
- Autoware.Universe: https://github.com/autowarefoundation/autoware.universe/tree/0c6c46b33b3c828cb95eaa31fcbf85655fc6a55f
Scenario: https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/
Environment
- OS: Ubuntu 22.04, 5.15.0-53-generic
- ROS: ROS2 Humble
- CPU: 12th Gen Intel® Core™ i9-12900KF x 24
- GPU: NVIDIA GeForce RTX 3070 Ti, 515.65.01
- Memory: 128GByte (DDR4 3200MHz, Dual-channel)
- Storage: SSD

Path Analysis Report

This report shows message_flow and response_time for each target path.

Node Analysis Report

This report shows detailed information (Frequency, Period and Latency) for callback functions in each package.

Track of Response Time

Callback Latency

List of callback function latency time (Top k)

sensing

Callback Name	Avg [ms]	Median [ms]	99%ile [ms]	Max [ms]
/sensing/lidar/top/velodyne_convert_node subscription_0: /sensing/lidar/top/velodyne_packets	20.922	19.189	44.983	50.942
/sensing/lidar/top/ring_outlier_filter subscription_0: /sensing/lidar/top/rectified/pointcloud_ex	15.601	14.243	31.226	32.191
/sensing/lidar/top/distortion_corrector_node subscription_2: /sensing/lidar/top/mirror_cropped/pointcloud_ex	17.022	13.035	41.308	46.739
/sensing/lidar/top/crop_box_filter_self subscription_0: /sensing/lidar/top/pointcloud_raw_ex	13.483	12.618	30.484	32.427
/sensing/lidar/concatenate_data subscription_0: /sensing/lidar/top/outlier_filtered/pointcloud	12.023	11.104	29.818	31.902
/sensing/lidar/top/crop_box_filter_mirror subscription_0: /sensing/lidar/top/self_cropped/pointcloud_ex	4.746	4.111	11.117	13.374
/sensing/lidar/left/velodyne_convert_node subscription_0: /sensing/lidar/left/velodyne_packets	0.987	0.832	2.451	2.499
/sensing/lidar/right/distortion_corrector_node subscription_2: /sensing/lidar/right/mirror_cropped/pointcloud_ex	0.925	0.762	2.332	2.554
/sensing/lidar/right/velodyne_convert_node subscription_0: /sensing/lidar/right/velodyne_packets	0.952	0.753	2.836	3.123
/sensing/lidar/left/distortion_corrector_node subscription_2: /sensing/lidar/left/mirror_cropped/pointcloud_ex	0.978	0.750	3.089	4.361
/sensing/lidar/left/ring_outlier_filter subscription_0: /sensing/lidar/left/rectified/pointcloud_ex	0.616	0.488	2.089	2.601
/sensing/lidar/right/ring_outlier_filter subscription_0: /sensing/lidar/right/rectified/pointcloud_ex	0.565	0.449	1.488	1.960
/sensing/lidar/left/crop_box_filter_self subscription_0: /sensing/lidar/left/pointcloud_raw_ex	0.504	0.426	1.206	1.458
/sensing/gnss/gnss_poser subscription_0: /sensing/gnss/ublox/nav_sat_fix	0.433	0.401	0.741	0.770
/sensing/lidar/right/crop_box_filter_self subscription_0: /sensing/lidar/right/pointcloud_raw_ex	0.433	0.358	1.036	1.269
/sensing/lidar/concatenate_data subscription_1: /sensing/lidar/left/outlier_filtered/pointcloud	1.074	0.196	8.057	8.880
/sensing/lidar/concatenate_data subscription_2: /sensing/lidar/right/outlier_filtered/pointcloud	0.696	0.145	10.440	15.210
/sensing/lidar/left/crop_box_filter_mirror subscription_0: /sensing/lidar/left/self_cropped/pointcloud_ex	0.157	0.132	0.342	0.900
/sensing/lidar/right/crop_box_filter_mirror subscription_0: /sensing/lidar/right/self_cropped/pointcloud_ex	0.141	0.114	0.313	0.365
/sensing/imu/imu_corrector subscription_0: /sensing/imu/tamagawa/imu_raw	0.105	0.099	0.217	0.269

localization

Callback Name	Avg [ms]	Median [ms]	99%ile [ms]	Max [ms]
/localization/pose_estimator/ndt_scan_matcher subscription_1: /localization/util/downsample/pointcloud	21.173	19.328	50.105	55.686
/localization/util/voxel_grid_downsample_filter subscription_0: /localization/util/measurement_range/pointcloud	9.893	8.311	21.996	24.087
/localization/util/crop_box_filter_measurement_range subscription_0: /sensing/lidar/top/outlier_filtered/pointcloud	2.038	1.707	5.749	5.884
/localization/pose_twist_fusion_filter/ekf_localizer timer_0: 19.999999 [ms]	1.696	1.513	4.249	5.049
/localization/pose_twist_fusion_filter/ekf_localizer timer_1: 20.0 [ms]	0.769	0.665	2.911	8.712
/localization/pose_twist_fusion_filter/stop_filter subscription_0: /localization/pose_twist_fusion_filter/kinematic_state	0.162	0.149	0.361	0.640
/localization/util/random_downsample_filter subscription_0: /localization/util/voxel_grid_downsample/pointcloud	0.180	0.145	0.485	0.517
/localization/localization_error_monitor timer_1: 100.0 [ms]	0.141	0.129	0.322	0.339
/localization/localization_error_monitor timer_0: 1000.0 [ms]	0.112	0.110	0.142	0.143
/localization/twist_estimator/gyro_odometer subscription_1: /sensing/imu/imu_data	0.090	0.096	0.244	0.275
/localization/pose_twist_fusion_filter/twist2accel subscription_0: /localization/kinematic_state	0.084	0.077	0.166	0.187
/localization/localization_error_monitor subscription_0: /localization/kinematic_state	0.071	0.065	0.139	0.277
/localization/twist_estimator/gyro_odometer subscription_0: /sensing/vehicle_velocity_converter/twist_with_covariance	0.035	0.009	0.192	0.229
/localization/util/pose_initializer_node subscription_1: /sensing/vehicle_velocity_converter/twist_with_covariance	0.010	0.009	0.023	0.030
/localization/pose_twist_fusion_filter/ekf_localizer subscription_0: /localization/pose_estimator/pose_with_covariance	0.008	0.008	0.016	0.018
/localization/util/default_ad_api/helpers/automatic_pose_initializer timer_0: 1000.0 [ms]	0.009	0.008	0.015	0.015
/localization/util/pose_initializer_node subscription_0: /sensing/gnss/pose_with_covariance	0.005	0.005	0.008	0.008
/localization/pose_estimator/ndt_scan_matcher subscription_0: /localization/pose_twist_fusion_filter/biased_pose_with_covariance	0.005	0.004	0.011	0.015
/localization/pose_estimator/ndt_scan_matcher subscription_2: /sensing/gnss/pose_with_covariance	0.004	0.003	0.010	0.010
/localization/pose_twist_fusion_filter/ekf_localizer subscription_1: /localization/twist_estimator/twist_with_covariance	0.004	0.003	0.010	0.019

perception

Callback Name	Avg [ms]	Median [ms]	99%ile [ms]	Max [ms]
/perception/obstacle_segmentation/common_ground_filter subscription_0: /perception/obstacle_segmentation/range_cropped/pointcloud	38.865	33.636	74.740	77.052
/perception/object_recognition/detection/centerpoint/lidar_centerpoint subscription_0: /sensing/lidar/concatenated/pointcloud	32.227	30.025	52.848	55.895
/perception/occupancy_grid_map/occupancy_grid_map_node subscription_0: /perception/obstacle_segmentation/single_frame/pointcloud_raw	33.461	28.801	71.460	73.593
/perception/object_recognition/detection/voxel_based_compare_map_filter subscription_0: /perception/obstacle_segmentation/pointcloud	17.356	16.939	35.537	36.197
/perception/obstacle_segmentation/occupancy_grid_map_outlier_filter subscription_1: /perception/occupancy_grid_map/map	16.815	14.659	39.183	41.184
/perception/object_recognition/tracking/multi_object_tracker timer_0: 100.0 [ms]	10.864	10.744	12.031	20.726
/perception/object_recognition/prediction/map_based_prediction subscription_0: /perception/object_recognition/tracking/objects	5.624	4.088	21.997	23.133
/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker_node subscription_1: /perception/object_recognition/detection/clustering/objects_with_feature	4.243	2.746	20.107	21.043
/perception/object_recognition/detection/obstacle_pointcloud_based_validator_node subscription_1: /perception/object_recognition/detection/pointcloud_map_filtered/pointcloud	2.140	1.644	8.322	8.931
/perception/obstacle_segmentation/crop_box_filter subscription_0: /sensing/lidar/concatenated/pointcloud	1.846	1.638	4.903	5.663
/perception/object_recognition/detection/clustering/voxel_grid_filter_dpc2205002_2139086_3315152817196906280 subscription_0: /perception/object_recognition/detection/pointcloud_map_filtered/pointcloud	2.263	1.623	7.064	8.438
/perception/object_recognition/detection/clustering/euclidean_cluster subscription_0: /perception/object_recognition/detection/clustering/outlier_filter/pointcloud	1.407	1.056	4.120	4.636
/perception/object_recognition/tracking/multi_object_tracker subscription_0: /perception/object_recognition/detection/objects	0.931	0.821	2.347	2.863
/perception/object_recognition/detection/object_association_merger_dpc2205002_2139086_6981487082064849628 subscription_1: /perception/object_recognition/detection/clustering/objects	0.701	0.589	2.226	2.283
/perception/object_recognition/detection/object_association_merger_dpc2205002_2139086_2138053929816265800 subscription_1: /perception/object_recognition/detection/detection_by_tracker/objects	0.494	0.452	1.255	1.476
/perception/object_recognition/detection/clustering/shape_estimation subscription_0: /perception/object_recognition/detection/clustering/clusters	0.527	0.437	1.550	2.258
/perception/object_recognition/detection/clustering/outlier_filter subscription_0: /perception/object_recognition/detection/clustering/downsampled/pointcloud	0.482	0.403	1.640	1.827
/perception/object_recognition/detection/object_lanelet_filter subscription_0: /perception/object_recognition/detection/objects_before_filter	0.400	0.324	1.289	1.438
/perception/object_recognition/detection/clustering/detected_object_feature_remover subscription_0: /perception/object_recognition/detection/clustering/objects_with_feature	0.159	0.136	0.506	0.585
/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker_node subscription_0: /perception/object_recognition/tracking/objects	0.018	0.013	0.132	0.247

planning

Callback Name	Avg [ms]	Median [ms]	99%ile [ms]	Max [ms]
/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner subscription_1: /planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/trajectory	10.614	12.154	27.265	32.246
/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner subscription_0: /perception/obstacle_segmentation/pointcloud	7.134	6.050	19.196	21.215
/planning/scenario_planning/motion_velocity_smoother subscription_0: /planning/scenario_planning/scenario_selector/trajectory	6.307	5.490	19.455	47.980
/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker timer_0: 100.0 [ms]	6.127	5.250	15.862	16.282
/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner subscription_0: /planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id	5.313	4.887	17.232	19.301
/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner timer_0: 100.0 [ms]	2.925	2.617	8.060	8.601
/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner subscription_2: /perception/obstacle_segmentation/pointcloud	1.599	1.413	4.229	5.390
/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner subscription_0: /planning/scenario_planning/lane_driving/behavior_planning/path	4.032	1.349	65.422	68.090
/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter subscription_0: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory	0.261	0.229	0.790	0.812
/planning/planning_diagnostics/planning_error_monitor timer_1: 100.0 [ms]	0.173	0.152	0.385	0.448
/planning/planning_diagnostics/planning_error_monitor timer_0: 1000.0 [ms]	0.163	0.136	0.292	0.296
/planning/scenario_planning/scenario_selector timer_0: 100.0 [ms]	0.107	0.099	0.205	0.222
/planning/scenario_planning/scenario_selector subscription_0: /planning/scenario_planning/lane_driving/trajectory	0.085	0.080	0.181	0.197
/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner subscription_2: /perception/object_recognition/objects	0.030	0.029	0.068	0.081
/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner subscription_2: /perception/object_recognition/objects	0.017	0.017	0.030	0.030
/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker subscription_1: /perception/object_recognition/objects	0.018	0.016	0.036	0.046
/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker subscription_0: /perception/obstacle_segmentation/pointcloud	0.021	0.015	0.110	0.601
/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner subscription_3: /perception/occupancy_grid_map/map	0.016	0.014	0.061	0.073
/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner subscription_3: /localization/kinematic_state	0.014	0.013	0.027	0.110
/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner subscription_4: /perception/object_recognition/objects	0.380	0.013	6.825	10.149

control

Callback Name	Avg [ms]	Median [ms]	99%ile [ms]	Max [ms]
/control/trajectory_follower/controller_node_exe timer_1: 30.0 [ms]	2.169	1.822	5.221	11.192
/control/trajectory_follower/lane_departure_checker_node timer_1: 100.0 [ms]	0.654	0.575	2.190	5.633
/control/external_cmd_selector timer_1: 100.0 [ms]	0.211	0.147	0.889	2.207
/control/vehicle_cmd_gate timer_2: 100.00001 [ms]	0.159	0.114	0.557	0.704
/control/vehicle_cmd_gate timer_1: 100.0 [ms]	0.144	0.097	0.673	0.789
/control/trajectory_follower/controller_node_exe timer_0: 1000.0 [ms]	0.086	0.074	0.213	0.222
/control/external_cmd_converter timer_1: 100.0 [ms]	0.077	0.064	0.235	0.288
/control/trajectory_follower/lane_departure_checker_node timer_0: 1000.0 [ms]	0.069	0.063	0.110	0.111
/control/vehicle_cmd_gate subscription_5: /control/trajectory_follower/control_cmd	0.068	0.060	0.195	0.395
/control/external_cmd_converter timer_0: 1000.0 [ms]	0.061	0.056	0.127	0.131
/control/operation_mode_transition_manager timer_0: 100.0 [ms]	0.060	0.053	0.159	0.233
/control/vehicle_cmd_gate timer_0: 1000.0 [ms]	0.150	0.049	0.710	0.757
/control/shift_decider timer_0: 100.0 [ms]	0.047	0.040	0.220	0.659
/control/external_cmd_selector timer_0: 1000.0 [ms]	0.043	0.038	0.088	0.090
/control/vehicle_cmd_gate subscription_4: /system/fail_safe/mrm_state	0.007	0.006	0.016	0.016
/control/operation_mode_transition_manager subscription_6: /planning/scenario_planning/trajectory	0.005	0.005	0.012	0.013
/control/external_cmd_converter subscription_0: /localization/kinematic_state	0.005	0.004	0.012	0.041
/control/operation_mode_transition_manager subscription_1: /control/external_cmd_selector/current_selector_mode	0.005	0.004	0.013	0.020
/control/external_cmd_converter subscription_3: /control/current_gate_mode	0.003	0.003	0.007	0.013
/control/operation_mode_transition_manager subscription_0: /control/current_gate_mode	0.004	0.003	0.006	0.095

system

Callback Name	Avg [ms]	Median [ms]	99%ile [ms]	Max [ms]
/system/system_error_monitor timer_0: 100.0 [ms]	2.578	2.214	6.746	8.338
/system/topic_state_monitor_vector_map timer_0: 1000.0 [ms]	0.185	0.185	0.241	0.243
/system/topic_state_monitor_system_emergency_control_cmd timer_0: 1000.0 [ms]	0.172	0.153	0.280	0.281
/system/emergency_handler timer_0: 100.0 [ms]	0.154	0.147	0.297	0.510
/system/topic_state_monitor_scenario_planning_trajectory timer_0: 1000.0 [ms]	0.139	0.147	0.232	0.239
/system/topic_state_monitor_system_emergency_control_cmd timer_1: 100.0 [ms]	0.152	0.146	0.289	0.306
/system/topic_state_monitor_transform_map_to_base_link timer_0: 1000.0 [ms]	0.145	0.145	0.224	0.227
/system/topic_state_monitor_object_recognition_objects timer_0: 1000.0 [ms]	0.158	0.140	0.252	0.254
/system/topic_state_monitor_vehicle_status_steering_status timer_0: 1000.0 [ms]	0.137	0.135	0.191	0.194
/system/topic_state_monitor_initialpose3d timer_0: 1000.0 [ms]	0.136	0.132	0.216	0.217
/system/topic_state_monitor_transform_map_to_base_link timer_1: 100.0 [ms]	0.146	0.128	0.322	0.344
/system/topic_state_monitor_vector_map timer_1: 100.0 [ms]	0.136	0.128	0.260	0.299
/system/topic_state_monitor_trajectory_follower_control_cmd timer_1: 100.0 [ms]	0.138	0.125	0.282	0.318
/system/topic_state_monitor_vehicle_status_velocity_status timer_1: 100.0 [ms]	0.133	0.125	0.284	0.295
/system/topic_state_monitor_obstacle_segmentation_pointcloud timer_0: 1000.0 [ms]	0.144	0.122	0.244	0.247
/system/topic_state_monitor_initialpose3d timer_1: 100.0 [ms]	0.130	0.121	0.248	0.272
/system/topic_state_monitor_vehicle_status_steering_status timer_1: 100.0 [ms]	0.136	0.121	0.305	0.342
/system/topic_state_monitor_pose_twist_fusion_filter_pose timer_0: 1000.0 [ms]	0.118	0.119	0.172	0.175
/system/topic_state_monitor_obstacle_segmentation_pointcloud timer_1: 100.0 [ms]	0.132	0.115	0.271	0.654
/system/topic_state_monitor_pointcloud_map timer_0: 1000.0 [ms]	0.131	0.114	0.210	0.213

vehicle

Callback Name	Avg [ms]	Median [ms]	99%ile [ms]	Max [ms]