PR Details

Description

This PR supports efforts to create analysis scripts for control performance of CARMA. By running this before the carma starts, we are able to log the processes and see which one is taking more resources over time.

Example graph can be, which is not finalized and will be in the carma-analytics-fotda-repo.

Design document for this task is here: https://leidoscorpus.sharepoint.us/:w:/r/sites/STR/TODevelopmentLibrary/22-256%20CDA%20Design%20%26%20Architecture/Work-In-Progress/Task%207%20Architecture%20Improvement%20Implementation/CARMA%20Platform%20Controls%20Improvements/Identified%20Core%20Performance%20Metrics%20And%20Analysis%20Design%20for%20CARMA%20Platform%20Control.docx?d=w40615c2fbfb74d439215cf62c5e5c4ca&csf=1&web=1&e=NXYkMT Before this, I tried looking to other methods, but this seemed most straightforward and without issue. rqt_top is also deprecated in ROS2 ROS2_tracing kernel monitoring was really promising, but maybe it is due to foxy, we it was not possible to record the measurements.

Design task was done here and also mentions above other options I tried https://usdot-carma.atlassian.net/browse/ARC-207

Related GitHub Issue

Related Jira Key

ARC-54

Motivation and Context

Control performance analysis script creation

How Has This Been Tested?

Tested on CDASim and on Live vehicle whether if it is gathering info fine.

Types of changes

[ ] Defect fix (non-breaking change that fixes an issue)
[X] New feature (non-breaking change that adds functionality)
[ ] Breaking change (fix or feature that cause existing functionality to change)

Checklist:

[X] I have added any new packages to the sonar-scanner.properties file
[X] My change requires a change to the documentation.
[X] I have updated the documentation accordingly.
[X] I have read the CONTRIBUTING document.
[X] I have added tests to cover my changes.
[X] All new and existing tests passed.

usdot-fhwa-stol / carma-platform

CPU and Memory usage monitoring script for ROS #2467