Instrument rclpy about ros2_tracing HOT 3 OPEN

The subscription and timer callbacks are picked up by tracetools_analysis just like the rclcpp versions without any changes to that package.

I have also been running some more analysis with an private tool that can extract end-to-end latencies, which can now analyze a mix of rlcpy and rclcpp nodes without any issues so far. This tools uses the data model from tracetools_analysis package, to read the traces so essentially uses the same method.

from ros2_tracing.

I've been looking into instrumenting rclpy and managed to get it working for my purposes:

• I am simply reusing the rclcpp tracepoints and adding them to code in rlpcy. The functionality of rclpy is similar enough to make everything work from what i can tell.
• For simplicities sake i have kept the same name, i.e. ros2:rclcpp_*, as i ran into problems overwriting the tracetools package in my workspace. This is more of a temporary workaround, but since the tracepoints are identical for rclpy and rclcpp there is no real need to change the names (it just looks a little wrong).
• The instrumentation works in the pybind11 sections of rlcpy, thus essentially only adding a few extra calls in the Python files, where the data needed for the tracepoints comes from Python. The actual tracepoints are all dispatched from C code.

Check out my fork of rclpy here, i have made my changes on the humble and galactic branches, since i am required to work with those versions.

from ros2_tracing.

Awesome! I don't really use rclpy, but I'll try to give this a try at some point.

What have you done with the trace data you collected using that rclpy instrumentation? Have you run any kind of analysis on it?

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