{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,17]],"date-time":"2026-06-17T16:32:35Z","timestamp":1781713955545,"version":"3.54.5"},"publisher-location":"New York, NY, USA","reference-count":22,"publisher":"ACM","license":[{"start":{"date-parts":[[2024,9,13]],"date-time":"2024-09-13T00:00:00Z","timestamp":1726185600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2024,9,13]]},"DOI":"10.1145\/3698062.3698075","type":"proceedings-article","created":{"date-parts":[[2024,12,9]],"date-time":"2024-12-09T07:24:57Z","timestamp":1733729097000},"page":"95-104","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Monitor and Analyze Rare ROS2 Performance Issues with A Unified Tracing Framework"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8375-0330","authenticated-orcid":false,"given":"Yixiao","family":"Li","sequence":"first","affiliation":[{"name":"Nagoya University, Nagoya, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1111-0761","authenticated-orcid":false,"given":"Yutaka","family":"Matsubara","sequence":"additional","affiliation":[{"name":"Nagoya University, Nagoya, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3544-2397","authenticated-orcid":false,"given":"Hiroaki","family":"Takada","sequence":"additional","affiliation":[{"name":"Nagoya University, Nagoya, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-6152-6715","authenticated-orcid":false,"given":"Satoru","family":"Funahashi","sequence":"additional","affiliation":[{"name":"Mitsubishi Heavy Industries, Ltd., Hyogo, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-4203-2347","authenticated-orcid":false,"given":"Hiroki","family":"Kawashima","sequence":"additional","affiliation":[{"name":"Mitsubishi Heavy Industries, Ltd., Hyogo, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2024,12,8]]},"reference":[{"key":"e_1_3_3_2_2_2","doi-asserted-by":"publisher","unstructured":"Christophe Bedard Ingo Lutkebohle and Michel Dagenais. 2022. ros2_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2. IEEE Robotics and Automation Letters 7 3 (jul 2022) 6511\u20136518. 10.1109\/lra.2022.3174346","DOI":"10.1109\/lra.2022.3174346"},{"key":"e_1_3_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/rtas52030.2021.00029"},{"key":"e_1_3_3_2_4_2","first-page":"15","volume-title":"USENIX Annual Technical Conference, General Track","author":"Cantrill Bryan","year":"2004","unstructured":"Bryan Cantrill, Michael\u00a0W Shapiro, Adam\u00a0H Leventhal, et\u00a0al. 2004. Dynamic Instrumentation of Production Systems.. In USENIX Annual Technical Conference, General Track. 15\u201328."},{"key":"e_1_3_3_2_5_2","first-page":"209","volume-title":"OLS (Ottawa Linux Symposium)","author":"Desnoyers Mathieu","year":"2006","unstructured":"Mathieu Desnoyers and Michel\u00a0R Dagenais. 2006. The lttng tracer: A low impact performance and behavior monitor for gnu\/linux. In OLS (Ottawa Linux Symposium) , Vol.\u00a02006. Citeseer, 209\u2013224."},{"key":"e_1_3_3_2_6_2","unstructured":"Eclipse. 2024. Trace Compass. https:\/\/eclipse.dev\/tracecompass\/"},{"key":"e_1_3_3_2_7_2","unstructured":"EfficiOS. 2024. Babeltrace 2 Project. https:\/\/babeltrace.org\/"},{"key":"e_1_3_3_2_8_2","unstructured":"eProsima. 2024. Fast-DDS. https:\/\/github.com\/eProsima\/Fast-DDS"},{"key":"e_1_3_3_2_9_2","unstructured":"Netdata Inc.2024. Netdata. https:\/\/www.netdata.cloud\/"},{"key":"e_1_3_3_2_10_2","doi-asserted-by":"publisher","unstructured":"Alexandru Ioana and Adrian Korodi. 2021. DDS and OPC UA Protocol Coexistence Solution in Real-Time and Industry 4.0 Context Using Non-Ideal Infrastructure. Sensors 21 22 (nov 2021) 7760. 10.3390\/s21227760","DOI":"10.3390\/s21227760"},{"key":"e_1_3_3_2_11_2","unstructured":"iovisor. 2024. BPF Compiler Collection (BCC). https:\/\/github.com\/iovisor\/bcc"},{"key":"e_1_3_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICSME46990.2020.00048"},{"key":"e_1_3_3_2_13_2","doi-asserted-by":"publisher","unstructured":"Yixiao Li Yutaka Matsubara Hiroaki Takada Kenji Suzuki and Hideaki Murata. 2023. A Performance Evaluation of Embedded Multi-core Mixed-criticality System Based on PREEMPT_RT Linux. Journal of Information Processing 31 0 (2023) 78\u201387. 10.2197\/ipsjjip.31.78","DOI":"10.2197\/ipsjjip.31.78"},{"key":"e_1_3_3_2_14_2","doi-asserted-by":"publisher","unstructured":"Zihang Li Atsushi Hasegawa and Takuya Azumi. 2022. Autoware_Perf: A tracing and performance analysis framework for ROS 2 applications. Journal of Systems Architecture 123 (feb 2022) 102341. 10.1016\/j.sysarc.2021.102341 https:\/\/dl.acm.org\/doi\/10.1016\/j.sysarc.2021.102341","DOI":"10.1016\/j.sysarc.2021.102341"},{"key":"e_1_3_3_2_15_2","unstructured":"Linux Kernel. 2024. Scheduler Statistics. https:\/\/docs.kernel.org\/scheduler\/sched-stats.html"},{"key":"e_1_3_3_2_16_2","doi-asserted-by":"publisher","unstructured":"Steven Macenski Tully Foote Brian Gerkey Chris Lalancette and William Woodall. 2022. Robot Operating System 2: Design architecture and uses in the wild. Science Robotics 7 66 (may 2022). 10.1126\/scirobotics.abm6074","DOI":"10.1126\/scirobotics.abm6074"},{"key":"e_1_3_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1145\/2968478.2968502"},{"key":"e_1_3_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/icdcsw.2003.1203555"},{"key":"e_1_3_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/CASE48305.2020.9217010"},{"key":"e_1_3_3_2_20_2","first-page":"5","volume-title":"ICRA workshop on open source software","author":"Quigley Morgan","year":"2009","unstructured":"Morgan Quigley, Ken Conley, Brian Gerkey, Josh Faust, Tully Foote, Jeremy Leibs, Rob Wheeler, Andrew\u00a0Y Ng, et\u00a0al. 2009. ROS: an open-source Robot Operating System. In ICRA workshop on open source software , Vol.\u00a03. Kobe, Japan, 5."},{"key":"e_1_3_3_2_21_2","unstructured":"ROS2. 2024. Inverted Pendulum Demo. https:\/\/index.ros.org\/p\/pendulum_control\/"},{"key":"e_1_3_3_2_22_2","unstructured":"DiaMon Workgroup. 2024. The Common Trace Format. https:\/\/diamon.org\/ctf\/"},{"key":"e_1_3_3_2_23_2","doi-asserted-by":"publisher","unstructured":"LI Yixiao MATSUBARA Yutaka and TAKADA Hiroaki. 2020. esprof: A Generic Profiling Infrastructure for Multi\/Many-Core Embedded Systems. Computer Software 37 1 (2020) 54\u201367. 10.11309\/jssst.37.1_54","DOI":"10.11309\/jssst.37.1_54"}],"event":{"name":"WSSE 2024: 2024 The 6th World Symposium on Software Engineering (WSSE)","location":"Kyoto Japan","acronym":"WSSE 2024"},"container-title":["Proceedings of the 2024 The 6th World Symposium on Software Engineering (WSSE)"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3698062.3698075","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3698062.3698075","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T01:10:27Z","timestamp":1750295427000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3698062.3698075"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,9,13]]},"references-count":22,"alternative-id":["10.1145\/3698062.3698075","10.1145\/3698062"],"URL":"https:\/\/doi.org\/10.1145\/3698062.3698075","relation":{},"subject":[],"published":{"date-parts":[[2024,9,13]]},"assertion":[{"value":"2024-12-08","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}