e2e latency

[Autostone-c]

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Recording, Visualization

Description

hi，i see the plot only has publish time. no subscribe time. Can it represent end-to-end latency？or i have not understand this work?

[nabetetsu]

Hi, thank you for your question.
CARET is not able to record the timestamp of sbscription. Instead, it records the start time of the subscribe callback which is called when subscribing topics.
For more detail, please refer to the communication diagram in the following document:
https://tier4.github.io/CARET_doc/main/design/event_and_latency_definitions/communication/#inter-process-communication