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rosgraph_monitor package from ros_health_components repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs telegraf_bridge

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/bonsairobotics/ros_health_components.git
VCS Type git
VCS Version main
Last Updated 2024-11-26
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Monitors the ROS graph to detect error conditions

Additional Links

No additional links.

Maintainers

  • Bonsai Robotics Engineering

Authors

No additional authors.
rosgraph_monitor/README.md

Rosgraph Monitor

Provides a C++ class RosgraphMonitor which uses a NodeGraphInterface and /topic_statistics to monitor the ROS computation graph and produce /diagnostics (DiagnosticArray) about issues in the graph:

  • Missing Nodes (nodes that were present and are now missing)
  • Discontinuities in graph (publishers or subscriptions that have no counterparts)
  • Data flow issues (topics not publishing at promised rate)
    • /topic_statistics required for this. See rmw_stats_shim for how those are produced

Topic Statistics Diagnostics

To set expectations for Topic Statistics Diagnostics, you must:

  1. Set the Deadline QoS policy on Publishers
  2. Nothing else. You don’t need to set it on Subscriptions, or register DeadlineMissed callbacks. Just state your periodic promise via Deadline QoS.

Configuration

See params_decl.yaml for the full parameters for the rosgraph_monitor Node.

These parameters mirror the structure rosgraph_monitor::GraphMonitorConfiguration in monitor.hpp, for those using the class directly instead of in the wrapping Node.

Usage

ros2 run rosgraph_monitor rosgraph_monitor_node
CHANGELOG
No CHANGELOG found.

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.

Launch files

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Messages

No message files found.

Services

No service files found

Plugins

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Recent questions tagged rosgraph_monitor at Robotics Stack Exchange

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