carlossvg

Thanks, @minggangw for your detailed reply. I agree with your comments, your first proposal shouldn't take too much time to implement. The second proposal would be ideal but using `empy`...

Hi @ZhenshengLee, Sorry for the late reply and thanks for the suggestion. >callback-group executor is a method to assign realtime profile in the granularity of callback thread, see [this article](https://micro.ros.org/docs/concepts/client_library/execution_management/)...

Hi @swgu931, you could do this by running each executable in separate processes. Instead of using the pendulum demo bringup or the `ros2 run pendulum_demo pendulum_demo` command you will have...

You have to pass the parameter file too: ``` ros2 run pendulum_controller pendulum_controller_exe --priority 80 --cpu-affinity:=4 --lock-memory-size 100 --config-child-threads True --ros-args --params-file src/pendulum/pendulum_bringup/params/pendulum.param.yaml ``` Hope this helps.

@ZhenshengLee My understanding is that this wouldn't be as simple as adding this policy to `set_this_thread_priority`, this would require some changes in the application too, isn't it? I will try...

Hi @christophebedard We plan to replace "OSRF memory tools" to analyze memory allocations and use ros2_tracing instead. Could you point us in the right direction? The goal is to detect...

>I think support for this should be added to tracetools (and instrumentation added to rclcpp_lifecycle + support for it added to the processing tools), so I can take care of...

@christophebedard That's great. I think with the state transition traces most of my use case is covered. After looking at the rclcpp/rcl lifecycle implementation I can't find any clear places...

@christophebedard I started working on the callbacks duration scripts in this [branch](https://github.com/ros2-realtime-demo/pendulum/tree/foxy-add-tracing-support). I have some questions maybe you can help me to solve: 1. The long time to process all...

@christophebedard Thanks for the answers. I added the changes you suggested and I created the script for the timestamp differences. I created a PR here https://github.com/ros2-realtime-demo/pendulum/pull/39, feel free to provide...