Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization are crucial to improve perception systems performance in real-time applications. However, standard approaches often depict a partial picture of the actual performance. Fortunately, instrumentation and tracing offer a great opportunity for detailed performance analysis of real-time systems. In this paper, we show how our novel open-source tracing tools and techniques for ROS 2 enable us to identify delays, bottlenecks and critical paths inside centralized, or distributed, perception and mapping systems.
翻译：感知和绘图系统是最计算、记忆和带宽密集的机器人软件组件之一,因此,分析、调试和优化对于提高实时应用中的感知系统性能至关重要,然而,标准方法往往描述实际性能的部分情况。幸运的是,仪器和追踪为实时系统进行详细的性能分析提供了绝好的机会。在本文中,我们展示了我们用于ROS 2的新颖的开放源码追踪工具和技术如何使我们能够在集中或分布式的感知和绘图系统中找出延误、瓶颈和关键路径。
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