论文标题
分析，调试，优化：ROS 2中的感知和映射系统的实时跟踪
Analyze, Debug, Optimize: Real-Time Tracing for Perception and Mapping Systems in ROS 2
论文作者
论文摘要
感知和映射系统是机器人技术中计算最多，内存和带宽密集软件组件之一。因此，分析，调试和优化对于改善实时应用中的感知系统性能至关重要。但是，标准方法通常描绘了实际性能的部分图片。幸运的是，仪器和跟踪为实时系统的详细性能分析提供了绝佳的机会。在本文中，我们展示了ROS 2的新型开源追踪工具和技术如何确定集中式或分布式，感知和映射系统内部的延迟，瓶颈和关键路径。
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.
