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pablogs9 merged 1 commit into from
Oct 21, 2020
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Update links to repos in tracing tutorial and do minor fixes #225

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12 changes: 7 additions & 5 deletions _docs/tutorials/advanced/tracing/index.md
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Expand Up @@ -38,10 +38,12 @@ $ sudo apt-get update
$ sudo apt-get install lttng-tools lttng-modules-dkms liblttng-ust-dev
```

As part of the installation, a new group _tracing_ is created. Add your user to this group by
As part of the installation, a new group _tracing_ is created. Add your user to this group by running

```bash
sudo usermod -aG tracing $USER
$ sudo usermod -aG tracing $USER
```

and log off and on to take the new membership effect.

We'll also need these Python packages to read traces and setup a tracing session through ROS.
Expand All @@ -62,7 +64,7 @@ $ cd ros2_ws/
The `rcl` and `rclcpp` instrumentation has been integrated into Eloquent, so we simply need to recompile `ros2_tracing` & compile `tracetools_analysis`.

```bash
$ wget https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing/raw/master/tracing.repos
$ wget https://gitlab.com/ros-tracing/ros2_tracing/raw/master/tracing.repos
$ vcs import src < tracing.repos
```

Expand Down Expand Up @@ -134,7 +136,7 @@ arguments=['do_more']

Delete the previous trace directory, and execute the launch file again. Let it run for some time (e.g. 10-20 seconds), then kill it with `Ctrl+C`.

To run an analysis that displays durations of callbacks over time, use [this Jupyter notebook](https://gitlab.com/micro-ROS/ros_tracing/tracetools_analysis/blob/master/tracetools_analysis/analysis/callback_duration.ipynb), which should be under `ros2_ws/src/tracetools_analysis/tracetools_analysis/analysis/`.
To run an analysis that displays durations of callbacks over time, use [this Jupyter notebook](https://gitlab.com/ros-tracing/tracetools_analysis/blob/master/tracetools_analysis/analysis/callback_duration.ipynb), which should be under `ros2_ws/src/tracetools_analysis/tracetools_analysis/analysis/`.

The resulting plots for the `/ping` and `/pong` subscriptions are shown below. We can see that the durations vary greatly.

Expand All @@ -144,4 +146,4 @@ The resulting plots for the `/ping` and `/pong` subscriptions are shown below. W

## Relevant links

The tracing packages can be found in the [`ros2_tracing` repo](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing). The analysis tools can be found in the [`tracetools_analysis` repo](https://gitlab.com/micro-ROS/ros_tracing/tracetools_analysis).
The tracing packages can be found in the [`ros2_tracing` repo](https://gitlab.com/ros-tracing/ros2_tracing). The analysis tools can be found in the [`tracetools_analysis` repo](https://gitlab.com/ros-tracing/tracetools_analysis).