Metric Logging and File Versioning

[vangeliq]

Research industry approaches to log metric data for robotics applications

• Use profiling tools for C++ and complete the PID approach that Valery has started (std::chrono)
• Verify the results match JTOP statistics
• Print FPS within cv2 display window
• Print preprocess, inference and postprocess latency values in terminal (rolling average over 1 second intervals)
• Add the ability to save recorded metric data to a logging file to later visualize
• Add model metadata and architecture/topic statistics to keep track of what logging files came from where
• Determine whether Python display node w/ cross-compilation or C++ Prometheus alternative is required

Logging Specific:
rclcpp::TimeSource and rclcpp::Clock:

• Utilize the ROS2 time-related classes to log timestamps and durations.
• Compare timestamps to measure latency between events.

Logging Statements (RCLCPP_INFO, RCLCPP_WARN, etc.):

• Add logging statements in your code to measure the time taken by specific operations.
• Analyze the log outputs to identify latency sources.