Statistics of latest Autoware's Whole Perception Pipeline Latency (Lidar only mode)

[cyn-liu]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Counting the running time of the perception module(lidar-only mode) during real vehicle operation.

Environment:
Device: DELL precison3581
OS: Ubuntu22.04
GPU: NVIDIA RTX A1000 6GB Laptop
CPU: intel CORE i7

Purpose

In order to get a detailed of each node and the overall time consumption of the perception pipeline, and to facilitate developers in improving the performance of the perception module.

Possible approaches

We will investigate a reasonable method to calculate the running time of the perception pipeline.
@mitsudome-r @xmfcx
Do you have any suggestions for statistical tools and methods?

Definition of done

TODO

[xmfcx]

Pipeline timings (Recommended)

• Improve and document the point cloud pipeline performance evaluation methods #6032

Easily learn about pipeline latency up-to a node you like by subscribing to node_name/pipeline_latency_ms topic.

CARET

https://github.com/orgs/autowarefoundation/discussions/2822

Takes more time to prepare, requires post processing to analyze timings.

End to end latency for whole system

• Investigate end-to-end delay in sudden obstacle braking response #5540

For checking the latency of whole system.

An object spawns at a predetermined time and the time when the velocity changes is measured.

@cyn-liu I updated this post.