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multiple_topic_monitor repository

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)

Packages

Name Version
multiple_topic_monitor 1.0.2

README

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.

CONTRIBUTING

No CONTRIBUTING.md found.