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multiple_topic_monitor package from multiple_topic_monitor repo

multiple_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.
README.md

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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