{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:PUQ64UJLPFVKNMBVR7KZLRZ4UV","short_pith_number":"pith:PUQ64UJL","canonical_record":{"source":{"id":"2204.10208","kind":"arxiv","version":6},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-21T15:45:01Z","cross_cats_sorted":[],"title_canon_sha256":"b462475fe8ae8c5ef131d283ffaa7f937fe789df1a60f7a78b29c03172be1bd2","abstract_canon_sha256":"4614239d7bff4c736c51be63bbef022803b8a278c84f73a6f148607c3a64082d"},"schema_version":"1.0"},"canonical_sha256":"7d21ee512b796aa6b0358fd595c73ca56084124891f0126dbadde920e8b29bb6","source":{"kind":"arxiv","id":"2204.10208","version":6},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.10208","created_at":"2026-07-05T05:34:45Z"},{"alias_kind":"arxiv_version","alias_value":"2204.10208v6","created_at":"2026-07-05T05:34:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.10208","created_at":"2026-07-05T05:34:45Z"},{"alias_kind":"pith_short_12","alias_value":"PUQ64UJLPFVK","created_at":"2026-07-05T05:34:45Z"},{"alias_kind":"pith_short_16","alias_value":"PUQ64UJLPFVKNMBV","created_at":"2026-07-05T05:34:45Z"},{"alias_kind":"pith_short_8","alias_value":"PUQ64UJL","created_at":"2026-07-05T05:34:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:PUQ64UJLPFVKNMBVR7KZLRZ4UV","target":"record","payload":{"canonical_record":{"source":{"id":"2204.10208","kind":"arxiv","version":6},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-21T15:45:01Z","cross_cats_sorted":[],"title_canon_sha256":"b462475fe8ae8c5ef131d283ffaa7f937fe789df1a60f7a78b29c03172be1bd2","abstract_canon_sha256":"4614239d7bff4c736c51be63bbef022803b8a278c84f73a6f148607c3a64082d"},"schema_version":"1.0"},"canonical_sha256":"7d21ee512b796aa6b0358fd595c73ca56084124891f0126dbadde920e8b29bb6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:34:45.913796Z","signature_b64":"Nss2VegqVScuIAXEWkMIF+sA+wAoHVdntzM1tBB40R9GtxuhRT27dLED1nEeYhm0zBZqzSip9qFOJCxjPmzLDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7d21ee512b796aa6b0358fd595c73ca56084124891f0126dbadde920e8b29bb6","last_reissued_at":"2026-07-05T05:34:45.913302Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:34:45.913302Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2204.10208","source_version":6,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:34:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NznT4OMXZFiuuoZg96APWCSTCJASpzHEFnYK5aTQw8SuQhC3b27PJR5odYxV8NssRutE31ZkiomqkxSvlhKBDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T14:12:13.696607Z"},"content_sha256":"f801636af1f1c27119ebd87e58379df16dfa8db76cc6d2fcfb49e90abe9f522f","schema_version":"1.0","event_id":"sha256:f801636af1f1c27119ebd87e58379df16dfa8db76cc6d2fcfb49e90abe9f522f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:PUQ64UJLPFVKNMBVR7KZLRZ4UV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Message Flow Analysis with Complex Causal Links for Distributed ROS 2 Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christophe B\\'edard, Giovanni Beltrame, Michel Dagenais, Pierre-Yves Lajoie","submitted_at":"2022-04-21T15:45:01Z","abstract_excerpt":"Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2 executor, a high-level task scheduler which handles ROS 2 messages, is a performance bottleneck. We extend ros2_tracing, a framework with instrumentation and tools for real-time tracing of ROS 2, with the analysis and visualization of the flow of messages across distributed ROS 2 systems. Our method detects one-to-many and many-to-many causal links between inpu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.10208","kind":"arxiv","version":6},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2204.10208/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:34:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+TdcPniaMnrjZclpHEmyJpPb27ndmYW5Al5xbxOx/oHt9jeSwTRLEpMCnktaOcBSfWSq5nPJy67bBHS4kPjrDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T14:12:13.696980Z"},"content_sha256":"3092052da161d5549bacf51e48de6bac10237c5816ed415d6943a20b8282bfd2","schema_version":"1.0","event_id":"sha256:3092052da161d5549bacf51e48de6bac10237c5816ed415d6943a20b8282bfd2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PUQ64UJLPFVKNMBVR7KZLRZ4UV/bundle.json","state_url":"https://pith.science/pith/PUQ64UJLPFVKNMBVR7KZLRZ4UV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PUQ64UJLPFVKNMBVR7KZLRZ4UV/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-23T14:12:13Z","links":{"resolver":"https://pith.science/pith/PUQ64UJLPFVKNMBVR7KZLRZ4UV","bundle":"https://pith.science/pith/PUQ64UJLPFVKNMBVR7KZLRZ4UV/bundle.json","state":"https://pith.science/pith/PUQ64UJLPFVKNMBVR7KZLRZ4UV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PUQ64UJLPFVKNMBVR7KZLRZ4UV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:PUQ64UJLPFVKNMBVR7KZLRZ4UV","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"4614239d7bff4c736c51be63bbef022803b8a278c84f73a6f148607c3a64082d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-21T15:45:01Z","title_canon_sha256":"b462475fe8ae8c5ef131d283ffaa7f937fe789df1a60f7a78b29c03172be1bd2"},"schema_version":"1.0","source":{"id":"2204.10208","kind":"arxiv","version":6}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.10208","created_at":"2026-07-05T05:34:45Z"},{"alias_kind":"arxiv_version","alias_value":"2204.10208v6","created_at":"2026-07-05T05:34:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.10208","created_at":"2026-07-05T05:34:45Z"},{"alias_kind":"pith_short_12","alias_value":"PUQ64UJLPFVK","created_at":"2026-07-05T05:34:45Z"},{"alias_kind":"pith_short_16","alias_value":"PUQ64UJLPFVKNMBV","created_at":"2026-07-05T05:34:45Z"},{"alias_kind":"pith_short_8","alias_value":"PUQ64UJL","created_at":"2026-07-05T05:34:45Z"}],"graph_snapshots":[{"event_id":"sha256:3092052da161d5549bacf51e48de6bac10237c5816ed415d6943a20b8282bfd2","target":"graph","created_at":"2026-07-05T05:34:45Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2204.10208/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2 executor, a high-level task scheduler which handles ROS 2 messages, is a performance bottleneck. We extend ros2_tracing, a framework with instrumentation and tools for real-time tracing of ROS 2, with the analysis and visualization of the flow of messages across distributed ROS 2 systems. Our method detects one-to-many and many-to-many causal links between inpu","authors_text":"Christophe B\\'edard, Giovanni Beltrame, Michel Dagenais, Pierre-Yves Lajoie","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-21T15:45:01Z","title":"Message Flow Analysis with Complex Causal Links for Distributed ROS 2 Systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.10208","kind":"arxiv","version":6},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:f801636af1f1c27119ebd87e58379df16dfa8db76cc6d2fcfb49e90abe9f522f","target":"record","created_at":"2026-07-05T05:34:45Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"4614239d7bff4c736c51be63bbef022803b8a278c84f73a6f148607c3a64082d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-21T15:45:01Z","title_canon_sha256":"b462475fe8ae8c5ef131d283ffaa7f937fe789df1a60f7a78b29c03172be1bd2"},"schema_version":"1.0","source":{"id":"2204.10208","kind":"arxiv","version":6}},"canonical_sha256":"7d21ee512b796aa6b0358fd595c73ca56084124891f0126dbadde920e8b29bb6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7d21ee512b796aa6b0358fd595c73ca56084124891f0126dbadde920e8b29bb6","first_computed_at":"2026-07-05T05:34:45.913302Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:34:45.913302Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Nss2VegqVScuIAXEWkMIF+sA+wAoHVdntzM1tBB40R9GtxuhRT27dLED1nEeYhm0zBZqzSip9qFOJCxjPmzLDw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:34:45.913796Z","signed_message":"canonical_sha256_bytes"},"source_id":"2204.10208","source_kind":"arxiv","source_version":6}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f801636af1f1c27119ebd87e58379df16dfa8db76cc6d2fcfb49e90abe9f522f","sha256:3092052da161d5549bacf51e48de6bac10237c5816ed415d6943a20b8282bfd2"],"state_sha256":"1948b82addd13921ada57629491db32efac6b31d42f653f9eb847cf9a9f4628b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"q09PnvRwQ6oFpCl8Dat2q6hEOFu621tJNnCng/L/aVkKldNjp1t+OIz11Bx6e0970KahukyckYqbGNw1WW25DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T14:12:13.699536Z","bundle_sha256":"ec37d04d0902c3d31f1933e2ffb0241885575be570a51ba670d3e7da16494fcf"}}