# \[preprint\] ros2\_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2

**URL:** <https://discourse.openrobotics.org/t/preprint-ros2-tracing-multipurpose-low-overhead-framework-for-real-time-tracing-of-ros-2/23678>\
**Category:** ROS General\
**Tags:** ros2\_tracing, preprint, paper\
**Created:** [January 4, 2022, 3:37pm UTC](https://discourse.openrobotics.org/t/preprint-ros2-tracing-multipurpose-low-overhead-framework-for-real-time-tracing-of-ros-2/23678 "2022-01-04T15:37:26Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![christophebedard](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/christophebedard/32/1514_2.png) [@christophebedard](https://discourse.openrobotics.org/u/christophebedard)\
**Post date:** [January 4, 2022, 3:37pm UTC](https://discourse.openrobotics.org/t/preprint-ros2-tracing-multipurpose-low-overhead-framework-for-real-time-tracing-of-ros-2/23678/1 "2022-01-04T15:37:27Z")

</div>

I’m really excited to share a new paper based on the work that @iluetkeb and I have been doing on [`ros2_tracing`](https://gitlab.com/ros-tracing/ros2_tracing) over the last 2-3 years! 😃

> **[ros2\_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2](https://arxiv.org/abs/2201.00393)**
>
> Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal computation...

---

<div class="post-metadata">

**Author:** ![system](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/b/6/b607ee3cc8e908b1b613bd74a683d749fea635a1.svg) [@system](https://discourse.openrobotics.org/u/system)\
**Post date:** [February 3, 2022, 3:37pm UTC](https://discourse.openrobotics.org/t/preprint-ros2-tracing-multipurpose-low-overhead-framework-for-real-time-tracing-of-ros-2/23678/2 "2022-02-03T15:37:52Z")

</div>

This topic was automatically closed 30 days after the last reply. New replies are no longer allowed.