ros2_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2

Testing and debugging have become major obstacles for robot software development, because of high system complexity dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal computation performance bottlenecks. Other existing methods also target very specific problems thus cannot be used multipurpose analysis. Moreover, they are suitable real-time applications. In this letter, we present ros2_tracing , a collection flexible tracing tools instrumentation ROS 2. It allows collecting runtime execution distributed systems, using the low-overhead LTTng tracer. Tools integrate into invaluable 2 orchestration other usability tools. A message latency experiment shows that end-to-end overhead, when enabling all instrumentation, is average 0.0033 ms, which believe production systems. obtained can combined with trace from operating system, wider range precise analyses, help understand an application execution, to find cause bottlenecks issues.