Add profiling instructions #96
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Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
ivanpauno
commented
Feb 2, 2023
glpuga
reviewed
Feb 4, 2023
glpuga
reviewed
Feb 4, 2023
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
glpuga
reviewed
Feb 6, 2023
nahueespinosa
requested changes
Feb 7, 2023
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@ivanpauno This is a great contribution! I'm trying it locally.
In the meantime, I left some comments and wanted to ask a few questions:
- Can we add the dependencies (perf, flamegraph, etc.) to our existing Dockerfile?
- If not: What's preventing us from providing a new Dockerfile with the dependencies already installed?
- Is there a reason not to always run perf from within a container?
glpuga
reviewed
Feb 7, 2023
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Co-authored-by: Nahuel Espinosa <nespinosa@ekumenlabs.com> Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Co-authored-by: Nahuel Espinosa <nespinosa@ekumenlabs.com> Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Co-authored-by: Nahuel Espinosa <nespinosa@ekumenlabs.com> Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
…in script. * Fix cleanup script behavior. * Remove "Avoiding sudo" section from troubleshooting. Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
nahueespinosa
added
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Related to #35
Summary
Adds instructions of how to profile cpu events of a beluga node and create a flamegraph from that.
The idea of this process is to understand what's beluga use the cpu time on.
I commented a brief summary of the results in #35 (comment).
I think there's no much to look a lot into those results.
It may be a good idea to avoid using an isolated executor for tf, as currently ROS 2 executors are not greatly implemented and they waste more cpu than they should.
I'm adding the instructions, as it's not easy to set it up when using docker and it's a pretty useful tool.
Checklist