ROS 2 is designed to achieve both software loosely coupled and high efficiency through its communications and scheduling features. However, these features can cause difficulties in evaluating end-to-end latency and in identifying the cause of problems when latency is greater than expected. To solve these problems, we developed CARET, a measurement tool that adds tracepoints with hooks. Since this tool is specialized for user-land measurement, it is lightweight and flexible, and can be used for measurement of large-scale applications such as self driving systems. In this presentation, we will introduce CARET and show an example of performance evaluation targeting Autoware.
Presented by: Atsushi Hasegawa (Research Institute of Systems Planning, Inc.) and Keita Miura (Emb IV, Inc.)
