There’s also a Getting started with ROS 2 tracing tutorial over on the micro-ROS website. It introduces tracing, explains why it is relevant, and shows how to use the tools to trace a simple ROS 2 example, process the data, and plot the results.
Since this is an alpha release, we’re very interested in getting feedback and hearing about the kinds of analyses the community would like to see. Contributions are of course welcome!
The next step is to test on a real robot and compare the results to other tools.