ROS2 Node Profiling

[Ishaan-Datta]

• ros2 topic hz Command: measure the publication rate and latency of a topic
• ros2 latency Package: measuring round-trip latency between nodes
• ros2 tracing: Use rqt with the ros2_trace plugin for visualization
• rclcpp Profiler: ROS2 provides a built-in profiler for C++ nodes
• System Profilers (e.g., perf, gprof, valgrind): Example with perf: sudo perf record -e cycles -g -- ros2 run your_package your_node
• rqt
• rviz
• rttest
• ros2_monitor