Dependencies

• OS: Ubuntu 22 (tested)
• bebeltrace2

  sudo apt install babeltrace2

• uuid

  sudo apt-get install uuid-dev

• ROS 2 Humble
• CARET with Live Tracing Mode
• Customized Autoware Reference System

Set Evaluation Environment

Isolate CPUs (5)

1. Open GRUB file: sudo nano /etc/default/grub
2. Modify: GRUB_CMDLINE_LINUX_DEFAULT="quiet splash isolcpus=3,4,5,6,7”
3. Update GRUB: sudo update-grub
4. Reboot: sudo reboot
5. Check: grep isolcpus /proc/cmdline
6. Check single CPU: ps -eLo psr | grep <core_number> | wc -l

Build

Build Caret

1. Following instructions to set caret environment.

2. Build the workspace

cd ros2_caret_ws
source /opt/ros/humble/setup.bash
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

3. Check whether CARET (ros2-tracing) is enabled.

source ~/ros2_caret_ws/install/local_setup.bash
ros2 run tracetools status # return Tracing enabled

Build ROS 2 Application (Autoware-reference System)

mkdir ros2_ws & cd ros2_ws & mkdir src
# then clone autoware_reference_system into src

cd ~/ros2_ws

source /opt/ros/humble/setup.bash
source ~/ros2_caret_ws/install/local_setup.bash
colcon build --symlink-install --packages-up-to autoware_reference_system --cmake-args -DBUILD_TESTING=OFF

Tracing

Tracing with non-live mode

source ~/ros2_caret_ws/install/local_setup.bash
export ROS_TRACE_DIR=~/ros2_ws/evaluate

ros2 caret record -s your-session-name

Tracing with live mode

source ~/ros2_caret_ws/install/local_setup.bash
ros2 caret record -s ATER -m

Launch ATER

source ~/ros2_caret_ws/install/setup.bash

python3 ATER.py net://localhost/host/your-host-name/ATER True path-to-save-message-drops/drops.txt path-to-save-cputime/cputime.txt path-to-save-throughput/throughput.txt

Parameter

• True: baseline
• False: ATER

Launch Target Application (Autoware Reference System)

source ~/ros2_caret_ws/install/local_setup.bash
source ~/ros2_ws/install/local_setup.bash
export LD_PRELOAD=$(readlink -f ~/ros2_caret_ws/install/caret_trace/lib/libcaret.so)

ros2 run autoware_reference_system autoware_system_1 > path_to_save_latency_results