Performance Analysis Report with CARET

[takeshi-iwanari]

Hi,

Do you remember CARET, which is a performance analysis tool my colleague introduced before ?

I analyzed Autoware using CARET and would like to share the result report. This time, the followings are analyzed:

• Path analysis: Message flow and response time of a path
• Node analysis: Callback function details (Frequency, Period and Latency time)
• Node problem detection: Check if each callback function runs appropriately

Anyway, please open THIS PAGE to see the report !!

Also, I made an explanation of how to analyze Autoware with CARET, so that anybody can perform the same analysis.

If you have any comment or thought, please let me know.
(I actually would like to know whether the pathes I analyzed here are appropriate. I'd be happy if you suggest other pathes to be analyzed)

Thanks!!

[Autostone-c]

hi，Can I record data on a machine and use caret_report to analyze the process of autoware and visualized on another machine?

[takeshi-iwanari]

Sure! I usually create a report on another machine.

[Autostone-c]

hi，How can I record the callback_scheduling as an indicator? Have you ever done this job

[takeshi-iwanari]

Sorry, I didn't try it.

[Autostone-c]

hi, this is necessary(export LD_PRELOAD=$(readlink -f ~/ros2_caret_ws/install/caret_trace/lib/libcaret.so)
) when record data .
and Is this necessary when I am analyzing data on another machine？

[takeshi-iwanari]

No.
You only need source ros2_caret_ws/install/local_setup.bash when analyzing data.