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r2r_tracing

Internal dependency containing tracepoint definitions or imports from tracetools ROS package for r2r.

Uses LTTng tracing framework.

Feature flag `tracing`

The crate will generate and link tracepoint libraries only when the feature flag is enabled.

Without specifying the feature flag tracing all exported functions are No-ops.

Depends on

tracetools ROS package
- This package is a part of ROS distribution.
- r2r_tracing dynamically loads tracetools library to obtain tracepoints used by rclcpp.
lttng-ust crate
- To define additional tracepoints.

Recording traces of R2R applications

Make sure to enable feature flag tracing.

Then start tracing session:

Either by installing ros2trace and running:
```
ros2 trace -u 'ros2:*' 'r2r:*'
```
The traces will be available in $HOME/.ros/tracing/session-<timestamp>.

Alternatively, you can trace your application directly with LTTng:

# Session name is an optional user-chosen name for the trace
lttng create [session-name]
lttng enable-event -u 'ros2:*,r2r:*'
lttng add-context -u --type=vtid --type=vpid --type=procname
lttng start
# Start the ROS system here.
# Let it run for as long as you want to trace it.
lttng destroy

The traces will be available in $HOME/lttng-traces/<session-name>-<timestamp>.