husarion_ugv_diagnostics

Package containing nodes monitoring and publishing the Built-in Computer status of Husarion UGV.

Launch Files

• system_monitor.launch.py: Launch a node that analyzes the state of the most important components in the robot

Configuration Files

• system_monitor.yaml: Defines parameters for system_monitor_node.

ROS Nodes

system_monitor_node

Publishes the built-in computer system status, monitoring parameters such as CPU usage, RAM usage, disk usage, and CPU temperature.

Publishes

• diagnostics [diagnostic_msgs/DiagnosticArray]: System monitor diagnostic messages.
• system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Parameters

• cpu_usage_warn_threshold [float, default: 95.0]: Threshold for CPU usage warning in percentage.
• cpu_temperature_warn_threshold [float, default: 80.0]: Threshold for CPU temperature warning in degrees Celsius.
• ram_usage_warn_threshold [float, default: 90.0]: Threshold for memory usage warning in percentage.
• disk_usage_warn_threshold [float, default: 90.0]: Threshold for disk usage warning in percentage.
• publish_frequency [double, default: 5.0]: System status publishing frequency [Hz].

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_diagnostics \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
• Contributors: kmakd

2.2.0 (2025-03-13)

• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
• Merge pull request #496 from husarion/repo-rename
• update links
• Merge branch 'ros2-devel' into lights-new
• Merge pull request #490 from husarion/ros2-fix-bild-warnings
• fix build warnings
• Ros2 unit test workflow (#471)
• Add log level argument to launch files (#473)
• Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
• Merge pull request #480 from husarion/ros2-cmake-export
• Add exports to cmake
• Update diagnostics package readme file (#475)
• Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
• Readme files minor fixes (#463)
• Merge pull request #466 from husarion/ros2-add-msgs
• Merge branch 'ros2-devel' into ros2-add-msgs
• Merge pull request #454 from pawelir/add-panther-diagnostics-config
• lowered ram and disk threasholds
• updated paths
• Merge branch 'ros2-devel' into add-panther-diagnostics-config
• husarion_ugv_msg -> husarion_ugv_msgs
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-devel
• Add husarion_ugv_msgs
• Merge pull request #457 from husarion/ros2-lynx-devel
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-lynx-devel
• Ros2 husarion ugv v2 (#422)
• Contributors: BOOTCFG, Dawid Kmak, Jakub Delicat, Miłosz Łagan, Rafal Gorecki, Stefan, kmakd, rafal-gorecki

2.1.2 (2024-12-02)

• Merge pull request #408 from husarion/ros2-lights-integration-tests
• Change License in system monitor integration test
• Merge branch 'ros2-devel' into ros2-lights-tests
• Contributors: Dawid Kmak, pawelirh

2.1.1 (2024-09-05)

• Merge branch 'ros2-devel' into ros2-ns-refactor
• Merge pull request #349 from husarion/ros2-testing-poc
• Review changes
• Add integration tests condition
• Formatting
• Implement filesystem unit tests
• Round temperature precision
• System monitor improvements
• Extend filesystem responsibility
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-add-nmea-gps
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
• Merge pull request #386 from husarion/ros2-unify-filenames
• Minor modifications
• Ros2 estop sim gui (#384)
• Correct include guards in manager package
• Merge branch 'ros2-devel' into ros2-ns-refactor
• Rename files in panther_diagnostics package
• unify CMakeLists.txt files (#381)
• unify CMakeLists.txt files
• New format of documentation (#369)
• Implement testing POC
• Contributors: Dawid, Dawid Kmak, KmakD, Paweł Irzyk, pawelirh, rafal-gorecki

2.1.0 (2024-08-02)

• Ros2 system status tf namespace (#372)
• Merge pull request #362 from husarion/ros2-api-reorganization
• Enhance ROS API names in the stack
• Add devices symlink (#347)
• Contributors: Dawid Kmak, Jakub Delicat, pawelirh

2.0.4 (2024-06-28)

• Merge branch 'ros2-devel' into ros2-gz-lights
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-gpio-controller-revision
• Merge branch 'ros2' into ros2-build-in-animation
• Merge branch 'ros2' into ros2-gz-lights
• Contributors: pawelirh, rafal-gorecki

2.0.3 (2024-06-06)

• Merge pull request #320 from husarion/ros2-clear-logs
• MInor logging changes
• Organize logs in panther_diagnostics and panther_description
• Contributors: Dawid Kmak, pawelirh

2.0.2 (2024-06-05)

• Merge pull request #301 from husarion/ros2-manager-refactor
• Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
• Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
• unify system_status_node cmake
• Contributors: Dawid, Paweł Irzyk

2.0.1 (2024-05-01)

• Merge pull request #274 from husarion/ros2-diagnostics-changelog
• Unify version and add changelog for panther_diagnostics
• Merge pull request #259 from husarion/ros2-os-diagnostics
• suggestions
• PR suggestions
• added super build for uprofile library:
• Renamed files | added fram_id and publish_rate parameters
• Added cppuprofile | added suggestions
• added suggestions
• Added readme and changed constants
• Added suggestions
• uncomment rpi test
• Added diagnostics
• fixed usage
• Added tests
• Added tests
• Added working node
• Added working node
• Read cpu example
• Read cpu example
• Contributors: Dawid Kmak, Jakub Delicat, Paweł Irzyk, pawelirh
• Merge pull request #259 from husarion/ros2-os-diagnostics
• suggestions
• PR suggestions
• added super build for uprofile library:
• Renamed files | added fram_id and publish_rate parameters
• Added cppuprofile | added suggestions
• added suggestions
• Added readme and changed constants
• Added suggestions
• uncomment rpi test
• Added diagnostics
• fixed usage
• Added tests
• Added tests
• Added working node
• Added working node
• Read cpu example
• Read cpu example
• Contributors: Jakub Delicat, Paweł Irzyk