Contact person: Business Client

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Location: Austin, United States

Budget: Recommended by industry experts

Time to start: As soon as possible

Project description:
"Goal of the project:
Set up a usable manipulation stack in a ROS2 + simulator-based environment.
Understand the performance bottlenecks of these manipulation stacks using existing ROS2 profiling tools.
(manually) for each stack, define what end-to-end objectives matter and try to specify relative importance of each path.

Steps
Identify a manipulation stack. Criteria:
must run on ROS2
must run on Gazebo-Sim / Isaac Sim (Gazebo is preferable since Isaac is a little more painful to setup)
Candidates:
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Use ros2_tracing: Tracing tools for ROS 2 to profile the system
What is ROS2 tracing? TL;DR: super light weight tracing tool based on LTTng v2.13 that can be used even in realtime applications with very low overhead. This dumps traces to files, which can then be analyzed by a bunch of tools.
Downstream stuff you can use to process traces:
ros-tracing/tracetools_analysis: default tool that ships with ROS2
skoudmar/Ros2TraceAnalyzer: This claims to be 30x faster than the default tool. Also, they seem to have a way to visualize all this information in a graph.
ROS 2 message flow analysis experiments
broadly looks like there are many tools (e.g. see this discussion thread: ROS 2 Visualization Tools for Architecture)
Write a report on findings and summarize. Furthermore document every single command and approach on how you got there starting from installing ROS2 all the day to project completion." (client-provided description)