Autoware Debug Tools

This package provides tools for debugging Autoware.

Processing Time Visualizer

This tool visualizes tier4_debug_msgs/msg/ProcessingTimeTree messages.

Usage

1. Run the following command to start the visualizer.

   bash ros2 run autoware_debug_tools processing_time_visualizer

2. Select a topic to visualize.

   

3. Then, the visualizer will show the processing time tree.

   

summarized output

Running with --summarize, it will output the summarized information.

```Text

ros2 run autoware_debug_tools processing_time_visualizer --summarize

objectsCallback: 17.99 [ms], run count: 1 ├── removeStaleTrafficLightInfo: 0.00 [ms], run count: 1 ├── updateObjectData: 0.03 [ms], run count: 13 ├── getCurrentLanelets: 4.81 [ms], run count: 13 │ ├── checkCloseLaneletCondition: 2.43 [ms], run count: 130 │ ├── isDuplicated: 0.02 [ms], run count: 17 │ └── calculateLocalLikelihood: 0.66 [ms], run count: 12 ├── updateRoadUsersHistory: 0.30 [ms], run count: 13 └── getPredictedReferencePath: 5.47 [ms], run count: 5 ├── predictObjectManeuver: 0.40 [ms], run count: 5 │ └── predictObjectManeuverByLatDiffDistance: 0.34 [ms], run count: 5 │ └── calcRightLateralOffset: 0.03 [ms], run count: 12 ├── calculateManeuverProbability: 0.01 [ms], run count: 5 └── addReferencePaths: 4.66 [ms], run count: 15 ├── updateFuturePossibleLanelets: 0.08 [ms], run count: 8 └── convertPathType: 4.29 [ms], run count: 8

```

System Usage Monitor

The purpose of the System Usage Monitor is to monitor, visualize and publish the CPU usage and memory usage of the ROS processes. By providing a real-time terminal-based visualization, users can easily confirm the cpu and memory usage as in the picture below.

You can run the program by the following command.

bash ros2 run autoware_debug_tools system_usage_monitor

System Performance Plotter

This script plots the following metrics by each Autoware's module.

• processing time
• CPU usage
• memory usage

Usage

Run the following commands according to your purpose.

```bash

plot processing time

ros2 run autoware_debug_tools processing_time_plotter

plot CPU usage

ros2 run autoware_debug_tools cpu_usage_plotter

plot memory usage

ros2 run autoware_debug_tools memory_usage_plotter ```

There are several options.

• -c:
  • can filter modules in the specific component (e.g. all, planning, system, etc).
• -n <number>:
  • can pick up top <number> critical modules.
• -g <text>
  • can filter the modules which include <text>.
• -y <val>
  • can set the height of the plot to <val>.

Examples

bash ros2 run autoware_debug_tools processing_time_plotter <bag-path> -c planning -g behavior_path -y 300

bash ros2 run autoware_debug_tools cpu_usage_plotter <bag-path> -n 20

Rosout Log Reconstructor

This script shows the log from the /rosout topic on the terminal.

Usage

bash ros2 run autoware_debug_tools rosout_log_reconstructor

Frequent Log Checker

This script shows the frequent log from the launch.log. In detail, the log which appears more than the threshold times during the duration will be list down.

Usage

bash ros2 run autoware_debug_tools frequent_log_checker <launch-log-path>

The command has following options.

• -d: duration to count the number of log
• -c: threshold of the log count during the duration
• -f: log format. Several log formats are pre-defined in the script.