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ROS/Linux tools for instrumentation

asked 2018-04-29 06:19:57 -0500

mohsen gravatar image

updated 2018-04-29 07:02:26 -0500

This is a general question and I am looking for tips and best practices.
What are some ROS/Linux commands and tools for measuring performance of a node or a system in ROS? (Beyond rostopic hz).
For example, do we have something similar to strace, written specifically for ROS nodes?

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answered 2018-04-29 12:06:42 -0500

ahendrix gravatar image

I typically use normal Linux tools like perf and flame graphs for performance analysis.

You can also use ftrace and catapult to find inter-thread and inter-process interactions that are creating performance bottlenecks.

Unless you're trying to look for performance problems specifically around interactions between nodes, or across a multi-machine ROS system, the standard Linux tools should do very well.

P.S. - I have not used strace as a performance measurement tool. It's fine for introspection, but doesn't seem well suited to measuring performance.

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I have seen strace used with -c and -f flags to track the time spent in system calls. Though not sure if it's used for performance analysis in general.

mohsen gravatar image mohsen  ( 2018-04-29 13:10:01 -0500 )edit

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Asked: 2018-04-29 06:19:57 -0500

Seen: 265 times

Last updated: Apr 29 '18