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Scripts to create analysis report using CARET trace data

Home Page: https://tier4.github.io/caret_report/

License: Apache License 2.0

Python 70.62% HTML 19.90% Shell 5.80% Dockerfile 0.94% JavaScript 2.74%

caret_report's Introduction

CARET_report

This repository contains report creation scripts for CARET
- sample report page
Please refer to report to find explanation of how to use the scripts
Please refer to sample_autoware to find sample settings and a full explanation of how to analyze Autoware with CARET

Requirements

Ubuntu 22.04
- ROS2 Humble
- CARET ( Use main/latest )
The following software is also needed

pip3 install 'Flask>=3' anytree

FAQ and Troubleshooting

Process is stuck or PC freezes/crashes

It uses lots of memory
- 64GB or more is recommended
- In case crash happens due to memory shortage, increase swap space

About sim_time

The analysis scripts don't support sim_time. So, please be careful when you analyze trace data which have been created with ros2 bag play with -r option. For instance, "Frequency" will be half when you add -r 0.5 option.

How to run regression test

# cd to this repo cloned
sh ./compare/makereport_and_compare.sh

caret_report's People

Contributors

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takam5f2 hsgwa atsushi421 junyang0412

caret_report's Issues

CARET + Autoware tutorial does not compile, linker error in ekf_localizer

I tried following the sample_autoware tutorial but Autoware did not fully compile.

My Autoware version is b92953c3 (current main branch),
my CARET version is 18042ad (current main branch).

Specifically, the ekf_localizer node failed with the following linker error:

[...]

CMake Warning at /opt/ros/humble/share/ament_cmake_auto/cmake/ament_auto_add_executable.cmake:66 (add_executable):
  Cannot generate a safe runtime search path for target ekf_localizer because
  there is a cycle in the constraint graph:

    dir 0 is [/home/maximilianschmeller/autoware/install/kalman_filter/lib]
    dir 1 is [/home/maximilianschmeller/autoware/install/autoware_auto_perception_msgs/lib]
    dir 2 is [/home/maximilianschmeller/autoware/install/autoware_auto_geometry_msgs/lib]
    dir 3 is [/home/maximilianschmeller/autoware/install/autoware_auto_mapping_msgs/lib]
    dir 4 is [/opt/ros/humble/lib]
      dir 7 must precede it due to runtime library [librclcpp.so]
      dir 11 must precede it due to runtime library [librclcpp_action.so]
      dir 12 must precede it due to runtime library [librcl_action.so]
      dir 13 must precede it due to runtime library [librcl.so]
      dir 14 must precede it due to runtime library [librcl_yaml_param_parser.so]
      dir 15 must precede it due to runtime library [libtracetools.so]
    dir 5 is [/home/maximilianschmeller/autoware/install/autoware_auto_planning_msgs/lib]
    dir 6 is [/home/maximilianschmeller/autoware/install/autoware_auto_vehicle_msgs/lib]
    dir 7 is [/home/maximilianschmeller/caret/install/rclcpp/lib]
      dir 4 must precede it due to runtime library [librclcpp.so]
    dir 8 is [/home/maximilianschmeller/autoware/install/tier4_debug_msgs/lib]
    dir 9 is [/home/maximilianschmeller/autoware/install/tier4_autoware_utils/lib]
    dir 10 is [/home/maximilianschmeller/autoware/build/ekf_localizer]
    dir 11 is [/home/maximilianschmeller/caret/install/rclcpp_action/lib]
    dir 12 is [/home/maximilianschmeller/caret/install/rcl_action/lib]
    dir 13 is [/home/maximilianschmeller/caret/install/rcl/lib]
    dir 14 is [/home/maximilianschmeller/caret/install/rcl_yaml_param_parser/lib]
      dir 4 must precede it due to runtime library [librcl_yaml_param_parser.so]
    dir 15 is [/home/maximilianschmeller/caret/install/tracetools/lib]
      dir 4 must precede it due to runtime library [libtracetools.so]

  Some of these libraries may not be found correctly.
Call Stack (most recent call first):
  CMakeLists.txt:28 (ament_auto_add_executable)

/usr/bin/ld: libekf_localizer_lib.so: undefined reference to `ros_trace_rclcpp_intra_publish'
/usr/bin/ld: libekf_localizer_lib.so: undefined reference to `ros_trace_dispatch_intra_process_subscription_callback'
/usr/bin/ld: libekf_localizer_lib.so: undefined reference to `ros_trace_dispatch_subscription_callback'
/usr/bin/ld: libekf_localizer_lib.so: undefined reference to `ros_trace_message_construct'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/ekf_localizer.dir/build.make:703: ekf_localizer] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:165: CMakeFiles/ekf_localizer.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

I have made sure that CARET is comiled and sourced correctly, and I removed the autoware build/log/install directories before building. I did not find this error in the FAQ section, so I am posting this as an issue.

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