autoware_component_monitor

The autoware_component_monitor package allows monitoring system usage of component containers. The composable node inside the package is attached to a component container, and it publishes CPU and memory usage of the container.

Inputs / Outputs

Input

None.

Output

Parameters

Core Parameters

{{ json_to_markdown(“system/autoware_component_monitor/schema/component_monitor.schema.json”) }}

How to use

Add it as a composable node in your launch file:

<launch>
  <group>
    <push-ros-namespace namespace="your_namespace"/>
    ...

    <load_composable_node target="$(var container_name)">
      <composable_node pkg="autoware_component_monitor"
                       plugin="autoware::component_monitor::ComponentMonitor"
                       name="component_monitor">
        <param from="$(find-pkg-share autoware_component_monitor)/config/component_monitor.param.yaml"/>
      </composable_node>
    </load_composable_node>

    ...
  </group>
</launch>

Quick testing

You can test the package by running the following command:

ros2 component load <container_name> autoware_component_monitor autoware::component_monitor::ComponentMonitor -p publish_rate:=10.0 --node-namespace <namespace>

# Example usage
ros2 component load /pointcloud_container autoware_component_monitor autoware::component_monitor::ComponentMonitor -p publish_rate:=10.0 --node-namespace /pointcloud_container

How it works

The package uses the top command under the hood. top -b -n 1 -E k -p PID command is run at 10 Hz to get the system usage of the process.

• -b activates the batch mode. By default, top doesn’t exit and prints to stdout periodically. Batch mode allows exiting the program.
• -n number of times should top prints the system usage in batch mode.
• -p specifies the PID of the process to monitor.
• -E k changes the memory unit in the summary section to KiB.

Here is a sample output:

top - 13:57:26 up  3:14,  1 user,  load average: 1,09, 1,10, 1,04
Tasks:   1 total,   0 running,   1 sleeping,   0 stopped,   0 zombie
%Cpu(s):  0,0 us,  0,8 sy,  0,0 ni, 99,2 id,  0,0 wa,  0,0 hi,  0,0 si,  0,0 st
KiB Mem : 65532208 total, 35117428 free, 17669824 used, 12744956 buff/cache
KiB Swap: 39062524 total, 39062524 free,        0 used. 45520816 avail Mem

    PID USER      PR  NI    VIRT    RES    SHR S  %CPU  %MEM     TIME+ COMMAND
   3352 meb       20   0 2905940   1,2g  39292 S   0,0   2,0  23:24.01 awesome

We get 5th, 8th fields from the last line, which are RES, %CPU respectively.

Changelog for package autoware_component_monitor

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0
• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
• fix: fix ticket links in CHANGELOG.rst (#9588)
• chore(package.xml): bump version to 0.39.0 (#9587)
  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)
• ci(pre-commit): update cpplint to 2.0.0 (#9557)
• 0.39.0
• update changelog
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot]

0.39.0 (2024-11-25)

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• chore(autoware_component_monitor): add maintainers (#8867)
• fix(autoware_component_monitor): fix unusedFunction (#8582)
• feat(system): create a package to monitor component containers (#7094)
• Contributors: Hayate TOBA, Mehmet Emin BAŞOĞLU, Yutaka Kondo

0.26.0 (2024-04-03)