I’ve worked on a tool for visualizing the flow of messages* between nodes over time (and more):
- ROSCon 2023 talk: “Improving Your Application’s Algorithms and Optimizing Performance Using Trace Data” (video, slides)
- Paper: doi.org/10.1016/j.robot.2022.104361 (arXiv)
- Relevant repo: GitHub - christophebedard/ros2-message-flow-analysis: ROS 2 message flow analysis experiments
(* and support for service requests/replies was just merged: ros2/ros2_tracing#145, eclipse-tracecompass-incubator/org.eclipse.tracecompass.incubator#127)