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Using Analyzer

Follow the instruction below to analyze task allocation with fixted priority scheduling. Analyzer dipicts a graph and a scheduling result. $(TOPDIR) represents your top working directory.

1. Preparation

Please, prepare anazlyzer_rosch.yaml in $(TOPDIR)/YAMLs/.

Required ROS node information:

  • nodename : the name of ROS node
  • core : if this node uses n cores (e.g., OpenMP), core is n.
  • sub_topic : topics for subscribe
  • pub_topic : topics for publish
  • run_time : the execution time
  • deadline : if an end node, set a deadline. Otherwise set to 0.
  • period : if an entry node, set a period. Otherwise set to 0.

2. How to make

$ cd $(TOPDIR)/Analyzer
$ make

3. How to use

$ cd $(TOPDIR)/Analyzer/bin
$ ./Analyzer