Add pub/sub init, publish and take instrumentation using tracetools #329
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Signed-off-by: Christophe Bedard <[email protected]>
This was referenced Aug 2, 2021
Signed-off-by: Christophe Bedard <[email protected]>
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We'll merge the ros2_tracing merge request and then create a new release before merging this PR. |
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@ros-pull-request-builder retest this please |
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Merging with ros2/rclcpp#1738 and ros2/rcl#930 |
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Thank you @wjwwood! |
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…os2#329) * Add pub/sub init, publish and take instrumentation using tracetools Signed-off-by: Christophe Bedard <[email protected]> * Remove redundant publisher field in rmw_publish tracepoint Signed-off-by: Christophe Bedard <[email protected]>
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This adds tracing instrumentation for publisher/subscription initialization at the
rmwlevel. By recording the pub/sub GIDs, we can match ROS 2 pubs/subs with the corresponding DDS writers/readers. For example, with Cyclone DDS: eclipse-cyclonedds/cyclonedds#898This also adds a tracepoint for
rmw_publishandrmw_takeso that we can track published/taken messages at thermwlevel.Requires https://gitlab.com/ros-tracing/ros2_tracing/-/merge_requests/254
action-ros-ci-repos-override: https://gist.githubusercontent.com/christophebedard/a83485b0bdea8458e61d59ed5668e27f/raw/2cb93590b8e18e6cb976408610f864acb47d1021/ros2.repos
action-ros-ci-repos-override: https://raw.githubusercontent.com/ros2/rmw_cyclonedds/master/.github/resources/local.repos
Signed-off-by: Christophe Bedard [email protected]