# \[Nav2\] New Profiling Tutorial!
**URL:** https://discourse.openrobotics.org/t/nav2-new-profiling-tutorial/26053
**Category:** ROS General
**Tags:** ros2
**Created:** [June 17, 2022, 11:37pm UTC](https://discourse.openrobotics.org/t/nav2-new-profiling-tutorial/26053 "2022-06-17T23:37:07Z")
**Posts on this page:** 6
**Page:** 1
### Author:  [@smac](https://discourse.openrobotics.org/u/smac)
#### Post date: [June 17, 2022, 11:37pm UTC](https://discourse.openrobotics.org/t/nav2-new-profiling-tutorial/26053/1 "2022-06-17T23:37:07Z")
Hi all, your friendly neighborhood navigator here,
I wanted to bring to the community’s attention a new tutorial I wrote this afternoon for how to profile applications in ROS 2 with `valgrind`. This subject has come up a few times in the Nav2 working group while trying to analyze run-time performance and identify locations for improvements.
This tutorial focuses on the ROS-y aspects of profiling including how to profile from a launch file, `ros2 run` commandline, and with servers with plugins that you’d like to also profile. It ends briefly with using the profiler results in `kcachegrind` to see the Call Graph and analyze where in your server the time is being mostly spent.
[https://navigation.ros.org/tutorials/docs/get\_profile.html](https://navigation.ros.org/tutorials/docs/get_profile.html)
This is certainly not an exhaustive tutorial about all the things you can do with profilers and analysis you can derive from the results, but its a good starting point for new developers that haven’t used this technology before or are just looking to bridge their existing skills into ROS 2-based projects.
This compliments the [Backtrace Tutorial](https://navigation.ros.org/tutorials/docs/get_backtrace.html) I made 2 years ago (wow, I feel old now 😢 ) for our to get backtraces with ROS 2.
Happy profiling,
Steve
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### Author:  [@Robin\_Tomar](https://discourse.openrobotics.org/u/Robin_Tomar)
#### Post date: [June 18, 2022, 2:59am UTC](https://discourse.openrobotics.org/t/nav2-new-profiling-tutorial/26053/2 "2022-06-18T02:59:40Z")
Hey steve, clean tutorial. Will try out and post results. just a quick question. Is it obvious that the function in which code stays the most is the one using most system resources or it could be otherwise .🧐
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### Author:  [@smac](https://discourse.openrobotics.org/u/smac)
#### Post date: [June 19, 2022, 10:32pm UTC](https://discourse.openrobotics.org/t/nav2-new-profiling-tutorial/26053/3 "2022-06-19T22:32:23Z")
Hi,
I’m not exactly sure what you’re trying to ask or I’m parsing the sentence incorrectly. Perhaps you could rephrase with more detail?
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### Author:  [@ipa-hsd](https://discourse.openrobotics.org/u/ipa-hsd)
#### Post date: [June 21, 2022, 9:44am UTC](https://discourse.openrobotics.org/t/nav2-new-profiling-tutorial/26053/4 "2022-06-21T09:44:15Z")
Thanks for the tutorial! Is there any way to integrate the results of such profilers in CI? Maybe to output a warning / error in case the recent commits degraded the performance of a function below a limit..?
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### Author:  [@gavanderhoorn](https://discourse.openrobotics.org/u/gavanderhoorn)
#### Post date: [June 21, 2022, 11:43am UTC](https://discourse.openrobotics.org/t/nav2-new-profiling-tutorial/26053/5 "2022-06-21T11:43:57Z")
It’s not using @smac’s nice work, but for benchmarking you could take a look at how [tesseract does it](https://github.com/tesseract-robotics/tesseract/blob/2c593d12a0a470bd2672fdf6ff86843dd69b6e4a/.github/workflows/benchmarking.yml).
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### Author:  [@system](https://discourse.openrobotics.org/u/system)
#### Post date: [July 21, 2022, 11:44am UTC](https://discourse.openrobotics.org/t/nav2-new-profiling-tutorial/26053/6 "2022-07-21T11:44:10Z")
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