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multiple_topic_monitor package from multiple_topic_monitor repomultiple_topic_monitor |
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Package Summary
| Tags | No category tags. |
| Version | 1.0.2 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/yukkysaito/multiple_topic_monitor.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-05-07 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ROS 2 package for monitoring the frequency and delay of multiple topics.
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
Authors
No additional authors.
Multiple Topic Monitor
This is a ROS 2 package for monitoring the frequency and delay of multiple topics.
Installation
Clone this repository into your ROS 2 workspace and build it using colcon:
cd ~/your_ros2_workspace/src
git clone https://github.com/yukkysaito/multiple_topic_monitor.git
cd ..
colcon build
Usage
Running the Node
To run the multiple topic monitor node, use the ros2 topic multiple_topic_monitor command, along with the topics you want to monitor:
ros2 topic multiple_topic_monitor /topic1 /topic2 /topic3
| Option | Description |
|---|---|
-w, --window
|
Specifies the window size for calculating message averages. Default is 10000. |
--csv |
Enables CSV output mode. |
Output
The node will output the frequency (Hz) and delay (if applicable) for each topic being monitored. The delay is measured in seconds.
yukky@yukky:~/workspace/multiple_topic_monitor$ ros2 topic multiple_topic_monitor /planning/hazard_lights_cmd /tf /perception/obstacle_segmentation/pointcloud -w 10
[INFO 1713632632.003018708] [topic_monitor]: Subscribed to /planning/hazard_lights_cmd
[INFO 1713632632.054411974] [topic_monitor]: Subscribed to /tf
[INFO 1713632632.086228617] [topic_monitor]: Subscribed to /perception/obstacle_segmentation/pointcloud
[INFO 1713632632.086962056] [topic_monitor]: No header found for topic /planning/hazard_lights_cmd
[INFO 1713632632.087427722] [topic_monitor]: No header found for topic /tf
[INFO 1713632633.087194077] [topic_monitor]: ----------2024-04-21 02:03:53.086522----------
[INFO 1713632633.087833129] [topic_monitor]: /planning/hazard_lights_cmd Hz: 9.98
[INFO 1713632633.088391419] [topic_monitor]: /tf Hz: 39.62
[INFO 1713632633.088945931] [topic_monitor]: /perception/obstacle_segmentation/pointcloud Hz: 10.00
[INFO 1713632633.089488071] [topic_monitor]: /perception/obstacle_segmentation/pointcloud Delay (s): Avg: 0.021, Min: 0.021, Max: 0.021, Std Dev: 0.00018
[INFO 1713632634.086795272] [topic_monitor]: ----------2024-04-21 02:03:54.086436----------
[INFO 1713632634.087089064] [topic_monitor]: /planning/hazard_lights_cmd Hz: 9.93
[INFO 1713632634.087343683] [topic_monitor]: /tf Hz: 39.92
[INFO 1713632634.087593483] [topic_monitor]: /perception/obstacle_segmentation/pointcloud Hz: 10.00
[INFO 1713632634.087851668] [topic_monitor]: /perception/obstacle_segmentation/pointcloud Delay (s): Avg: 0.021, Min: 0.021, Max: 0.021, Std Dev: 0.00007
[INFO 1713632635.086827859] [topic_monitor]: ----------2024-04-21 02:03:55.086457----------
[INFO 1713632635.087125369] [topic_monitor]: /planning/hazard_lights_cmd Hz: 9.92
[INFO 1713632635.087378595] [topic_monitor]: /tf Hz: 39.97
[INFO 1713632635.087624748] [topic_monitor]: /perception/obstacle_segmentation/pointcloud Hz: 10.00
[INFO 1713632635.087880519] [topic_monitor]: /perception/obstacle_segmentation/pointcloud Delay (s): Avg: 0.021, Min: 0.021, Max: 0.021, Std Dev: 0.00010
[INFO 1713632636.087026327] [topic_monitor]: ----------2024-04-21 02:03:56.086470----------
[INFO 1713632636.087516509] [topic_monitor]: /planning/hazard_lights_cmd Hz: 10.08
[INFO 1713632636.087951777] [topic_monitor]: /tf Hz: 39.94
[INFO 1713632636.088379963] [topic_monitor]: /perception/obstacle_segmentation/pointcloud Hz: 10.00
[INFO 1713632636.088843625] [topic_monitor]: /perception/obstacle_segmentation/pointcloud Delay (s): Avg: 0.021, Min: 0.021, Max: 0.021, Std Dev: 0.00015
csv format
yukky@yukky:~/workspace/multiple_topic_monitor/src/multiple_topic_monitor$ ros2 topic multiple_topic_monitor /planning/hazard_lights_cmd /tf /perception/obstacle_segmentation/pointcloud -w 10 --csv
[INFO 1713635027.749710504] [topic_monitor]: Subscribed to /planning/hazard_lights_cmd
[INFO 1713635027.802425796] [topic_monitor]: Subscribed to /tf
[INFO 1713635027.833324882] [topic_monitor]: Subscribed to /perception/obstacle_segmentation/pointcloud
[INFO 1713635027.834031931] [topic_monitor]: No header found for topic /planning/hazard_lights_cmd
[INFO 1713635027.834483751] [topic_monitor]: No header found for topic /tf
timestamp, /planning/hazard_lights_cmd hz, /tf hz, /perception/obstacle_segmentation/pointcloud hz, /planning/hazard_lights_cmd delay[ms], /tf delay[ms], /perception/obstacle_segmentation/pointcloud delay[ms]
2024-04-21 02:43:48.833518, 10.00, 39.85, 10.00, NA, NA, 20.75
2024-04-21 02:43:49.833592, 10.09, 40.36, 10.00, NA, NA, 20.90
2024-04-21 02:43:50.833570, 10.01, 39.97, 10.00, NA, NA, 20.92
2024-04-21 02:43:51.833562, 10.03, 40.05, 10.00, NA, NA, 21.00
License
This software is licensed under the BSD-3-Clause License for the original code, and additional code written by Yukihiro Saito is licensed under the Apache License, Version 2.0. See the LICENSE file for more details.
CHANGELOG
Changelog for package multiple_topic_monitor
1.0.2 (2024-05-08)
- change how to run command
- Contributors: Yukihito Saito
1.0.1 (2024-05-08)
- update setup.py
- Create LICENSE
- Merge pull request #1 from yukkysaito/main fix bug (block until getting topics)
- fix bug (block until getting topics)
- bug fix
- update package.xml
- add csv mode
- update readme
- initial commit
- Contributors: Yukihiro Saito, Yukihito Saito
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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