MultiThreadedExecutor vs. tracing-first: which lever reduces callback-chain latency when MutuallyExclusiveCallbackGroup serializes work?
Context A ROS 2 node runs several callbacks registered in a MutuallyExclusiveCallbackGroup under a SingleThreadedExecutor . End-to-end latency exceeds the target. The team is debating whether to switch to a MultiThreadedExecutor or first instrument the pipeline with ros2_tracing (tracetools/LTTng) to locate the bottleneck. Constraints MutuallyExclusiveCallba
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