Integrate ros2_tracing into carma-platform (#2190)

.circleci/config.yml

@@ -62,14 +62,14 @@ jobs:
           command: |
             source ${INIT_ENV}
             export ROS_PARALLEL_JOBS='-j4 -l4' # Try to reduce memory consumption on build
-            sed -i 's/colcon build /colcon build --packages-skip novatel_oem7_msgs novatel_oem7_driver /' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+            sed -i 's/colcon build /colcon build --packages-skip novatel_oem7_msgs tracetools tracetools_test /' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
       - run:
           name: Run C++ Tests ROS 1
           command: |
             source ${INIT_ENV}
             export ROS_PARALLEL_JOBS='-j4 -l4' # Try to reduce memory consumption on build
-            sed -i 's/colcon test /colcon test --packages-skip novatel_oem7_msgs novatel_oem7_driver /' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+            sed -i 's/colcon test /colcon test --packages-skip novatel_oem7_msgs tracetools tracetools_test /' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
       - run:
           name: Backup ROS1 compile_commands.json

carma/launch/carma_src.launch.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 from ament_index_python import get_package_share_directory
+import launch
 from launch.actions import Shutdown
 from launch import LaunchDescription
 from launch_ros.actions import Node
@@ -26,9 +27,36 @@
 from carma_ros2_utils.launch.get_log_level import GetLogLevel
 from launch.substitutions import LaunchConfiguration, PythonExpression
 from launch.actions import DeclareLaunchArgument
+from launch.actions import OpaqueFunction
 
+from tracetools_launch.action import Trace
+
+from datetime import datetime
 import os
 
+def create_ros2_tracing_action(context, *args, **kwargs):
+    """
+    Opaque Function for generating a 'Trace' ROS 2 launch action, which is dependent on the
+    'ROS_LOG_DIR' EnvironmentVariable and the 'is_ros2_tracing_enabled' LaunchConfiguration.
+
+    NOTE: This Opaque Function is required in order to evaluate the 'ROS_LOG_DIR' environment
+    variable as a string.
+    """
+    log_directory_string = launch.substitutions.EnvironmentVariable('ROS_LOG_DIR').perform(context)
+
+    trace = GroupAction( 
+        condition=IfCondition(LaunchConfiguration('is_ros2_tracing_enabled')),
+        actions=[
+            Trace(
+                base_path = log_directory_string,
+                session_name='my-tracing-session-' + str(datetime.now().strftime('%Y-%m-%d_%H%M%S')),
+                events_kernel = [], # Empty since kernel tracing is not enabled for CARMA Platform
+            )
+        ]
+    )
+
+    return [trace]
+
 def generate_launch_description():
     """
     Launch CARMA System.
@@ -144,6 +172,12 @@ def generate_launch_description():
     simulation_mode = LaunchConfiguration('simulation_mode')
     declare_simulation_mode = DeclareLaunchArgument(name='simulation_mode', default_value = 'False', description = 'True if CARMA Platform is launched with CARLA Simulator')
 
+    is_ros2_tracing_enabled = LaunchConfiguration('is_ros2_tracing_enabled')
+    declare_is_ros2_tracing_enabled = DeclareLaunchArgument(
+        name='is_ros2_tracing_enabled', 
+        default_value = 'False', 
+        description = 'True if user wants ROS 2 Tracing logs to be generated from CARMA Platform.')
+
     # Launch ROS2 rosbag logging
     ros2_rosbag_launch = GroupAction(
         actions=[
@@ -290,6 +324,7 @@ def generate_launch_description():
         declare_arealist_path,
         declare_vector_map_file,
         declare_simulation_mode,
+        declare_is_ros2_tracing_enabled,
         drivers_group,
         transform_group,
         environment_group,
@@ -298,5 +333,6 @@ def generate_launch_description():
         guidance_group, 
         ros2_rosbag_launch,
         ui_group,
-        system_controller
+        system_controller,
+        OpaqueFunction(function=create_ros2_tracing_action)
     ])

docker/checkout.bash

@@ -71,6 +71,10 @@ echo "" > COLCON_IGNORE
 
 cd ../
 
+# Clone the foxy branch of ros2_tracing in order to enable certain analyses of CARMA Platform
+# made possible through collected trace data, such as analyzing ROS 2 callback durations.
+git clone -b foxy https://github.com/ros2/ros2_tracing
+
 #rosbridge_suite is a ROS meta-package including all the rosbridge packages.
 # NOTE: clone -b flag is used instead of --branch to avoid hook rewriting it
 git clone -b ros2 https://github.com/usdot-fhwa-stol/rosbridge_suite
@@ -84,10 +88,15 @@ git clone -b carma-develop https://github.com/usdot-fhwa-stol/rosbag2
 # NOTE: This is required since otherwise this image will not contain the novatel_oem7_msgs package, and a missing ROS 2 message package
 #       can cause ROS 2 rosbag logging to fail in Foxy.
 # Related GitHub discussion for fix that was not backported to Foxy: https://github.com/ros2/rosbag2/pull/858
-sudo git clone https://github.com/novatel/novatel_oem7_driver.git ${dir}/src/novatel_oem7_driver -b ros2-dev
+git clone https://github.com/novatel/novatel_oem7_driver.git ${dir}/src/novatel_oem7_driver -b ros2-dev
 # Checkout verified commit
 cd ${dir}/src/novatel_oem7_driver
-sudo git checkout 3055e220bb9715b59c3ef53ab0aba05a495d9d5
+git checkout 3055e220bb9715b59c3ef53ab0aba05a495d9d5
+# Ignore novatel_oem7_driver package; only novatel_oem7_msgs is required
+cd ${dir}/src/novatel_oem7_driver/src/novatel_oem7_driver
+echo "" > COLCON_IGNORE
+cd ${dir}/src
+
 
 cd ${dir}/src
 

docker/install.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-#  Copyright (C) 2018-2021 LEIDOS.
+#  Copyright (C) 2018-2023 LEIDOS.
 # 
 #  Licensed under the Apache License, Version 2.0 (the "License"); you may not
 #  use this file except in compliance with the License. You may obtain a copy of
@@ -46,7 +46,7 @@ if [[ ! -z "$ROS1_PACKAGES$ROS2_PACKAGES" ]]; then
     fi
 else
     echo "Building all ROS1 CARMA Components"
-    colcon build --install-base /opt/carma/install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-skip novatel_oem7_driver novatel_oem7_msgs
+    colcon build --install-base /opt/carma/install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-skip novatel_oem7_msgs tracetools tracetools_test
 fi
 echo "Build of ROS1 CARMA Components Complete"