@gbiggs Interesting approach. Thanks for linking it, I’ll check it out.
@Jaime_Martin_Losa Thank you for mentioning ROS2 Monitor! I have a couple of questions related to it.
- Can this data be obtained from Python or C++? I’d like to have Diagnostics messages being published based on the measured data.
- The Statistics Module documentation mentions that “… by default, Fast DDS does not compile this module because it may entail affecting the application’s performance.”. Is there any information available on how much overhead the ROS2 Monitor causes?
@christophebedard First of all, thank you for the contributions to ros2_tracing! Right now I see ros2_tracing still being one of the most promising solutions for monitoring the topic rates.
Please open an issue and mention what doesn’t work for you or what you think needs improvement, otherwise we don’t know about it and can’t improve whatever doesn’t work!
Sure, I’ll do this. On a general level, I would find it helpful to have a beginner-friendly introduction to the tracing in its repository and in the ros2 documentation, for the people who haven’t worked with LLTng or tracing before. Just to tell a bit more on a general level about what the tracing is, what can be traced, how the tracing happens (offline into a file, live, etc.), methods of tracing (from Python / C++ code (?), CLI, etc.), and for example most common use cases that the tracing can help with.
I just opened an issue for it: Allow creating a live tracing session with
ros2 trace/Trace· Issue #149 · ros2/ros2_tracing · GitHub.
Awesome, thanks a lot for posting this example! I see this as a viable option, so I’d like to try it out. I’ll be in touch with you to discuss this further.