Tracing tools for ROS 2.
TRACETOOLS_DISABLED option is enabled during build or if LTTng is not found, then this package will not do anything.
To enable tracing:
- Install LTTng with the Python bindings to control tracing and read traces:
$ sudo apt-add-repository ppa:lttng/stable-2.10 $ sudo apt-get update $ sudo apt-get install lttng-tools lttng-modules-dkms liblttng-ust-dev $ sudo apt-get install python3-babeltrace python3-lttng
Note: the LTTng stable 2.10 PPA is used to get newer versions of the packages.
$ colcon build
- Source and check that tracing is enabled:
$ source ./install/local_setup.bash $ ros2 run tracetools status
The steps above will not lead to trace data being generated, and thus they will have no impact on execution. LTTng has to be enabled. The packages in this repo provide two options.
The first option is to use the
ros2 trace command.
$ ros2 trace
By default, it will enable all ROS tracepoints and a few kernel tracepoints. The trace will be written to
~/.ros/tracing/session-YYYYMMDDHHMMSS. Run the command with
-h for more information.
Launch file trace action
Another option is to use the
Trace action in a launch file along with your
Node action(s). This way, tracing happens when launching the launch file.
$ ros2 launch tracetools_launch example.launch.py
See this example launch file for more information.
See the design document.