ros_monitoring

This ROS package is intended to collect data from topics, transform, store, manage and send them to a MongoDB server. Being designed to maintain the collection even in connection drops with the server.

Install

To install this ROS package:

cd ~/catkin_ws/src
git clone https://github.com/alf767443/ros_monitoring.git
sudo chmod +x src/get*
cd ..
catkin_make

Installation of node_monitoring is recommended. Check the link:

https://github.com/alf767443/node_monitoring.git

Get the ROS running nodes (getNodes.py)

This package is intended to get the running nodes and connections between them. Publishing a message of type NodesInformation from ros_monitoring, in the publisher /nodesStatus

Published information (/nodesStatus)

The information published by this node is as follows:

{
    nodes: 	[{
	    node: -- node name.................as string
	    publications: [{
		    topic:    -- topic name....as string
		    msg_type: -- message type..as string
	    }, ...],
	    subscriptions: [{
		    topic:    -- topic name....as string
		    msg_type: -- message type..as string
	    }, ...],
	    services: [ -- node name...........as string, ...]
    }, ...]
}

Get the connection with an IP and port (getSignal.py)

This topic should get the connection status between the computer running ROS, with other IPs pings periodically. The information is published in a message of type SignalInformation from ros_monitoring in the publisher /connectionStatus.

pinglist (pingList.py)

To configure which IPs the node will ping, you must edit the file pingList.py, which is a dictionary in the following format:

{	
    'ip': 	    -- IP to ping......as string
    'port': 	    -- Port to ping....as integer
	'interval': -- Ping interval...as integer
	'timeout':  -- Timeout ping....as integer
	'count':    -- Number of trys..as integer
}

Published information (/connectionStatus)

The information published by this node is as follows:

{
    Info_ping: [{
	    is_alive: 	  	  -- The status of connection...as integer
		packets_sent: 	  -- Number of sent packets.....as integer
		packets_loss: 	  -- Number of loss packets.....as integer
		packets_received: -- Number of received packets.as integer
		port:	          -- Port it was sent to........as integer
		rtt_max:	  -- Maximum connection RTT.....as float
		rtt_min:	  -- Minimum connection RTT.....as float
		rtt_avg:	  -- Average connection RTT.....as float
		ip_target:	  -- IP it was ping.............as string
		}, ...]
 }

More information

This package was developed as part of the thesis for a Master in Industrial Engineering with a specialization in Electrical Engineering at the Polytechnic Institute of Bragança (IPB), the work was developed at the Research Centre in Digitalization and Intelligent Robotics (CeDRI). The project consists of three repositories with the links below:

https://github.com/alf767443/node_monitoring

https://github.com/alf767443/ros_monitoring

https://github.com/alf767443/UGV-dashboard

https://github.com/alf767443/UGV-backend