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General information about this repository, including legal information, build instructions and known issues/limitations, are given in README.md in the repository root.

The diagnostic_common_diagnostics package

This package provides generic nodes to monitor a Linux host.

Currently only the NTP monitor is ported to ROS2.

Nodes

cpu_monitor.py

The cpu_monitor module allows users to monitor the CPU usage of their system in real-time. It publishes the usage percentage in a diagnostic message.

  • Name of the node is "cpu_monitor_" + hostname.
  • Uses the following args:
    • warning_percentage: If the CPU usage is > warning_percentage, a WARN status will be publised.
    • window: the maximum length of the used collections.deque for queuing CPU readings.

Published Topics

/diagnostics

diagnostic_msgs/DiagnosticArray The diagnostics information.

Parameters

warning_percentage

(default: 90) warning percentage threshold.

window

(default: 1) Length of CPU readings queue.

ntp_monitor.py

Runs 'ntpdate' to check if the system clock is synchronized with the NTP server.

  • If the offset is smaller than offset-tolerance, an OK status will be published.
  • If the offset is larger than the configured offset-tolerance, a WARN status will be published,
  • if it is bigger than error-offset-tolerance, an ERROR status will be published.
  • If there was an error running ntpdate, an ERROR status will be published.

cpu_monitor.py

The cpu_monitor module allows users to monitor the CPU usage of their system in real-time. It publishes the usage percentage in a diagnostic message.

  • Name of the node is "cpu_monitor_" + hostname.
  • Uses the following args:
    • warning_percentage: If the CPU usage is > warning_percentage, a WARN status will be publised.
    • window: the maximum length of the used collections.deque for queuing CPU readings.

Published Topics

/diagnostics

diagnostic_msgs/DiagnosticArray The diagnostics information.

Parameters

ntp_hostname

(default: "pool.ntp.org") Hostname of NTP server.

offset-tolerance"

(default: 500) Allowed offset from NTP host. Above this is a warning.

error-offset-tolerance

(default: 5000000) If the offset from the NTP host exceeds this value, it is reported as an error instead of warning.

self_offset-tolerance

(default: 500) Offset from self

diag-hostname

Computer name in diagnostics output (ex: 'c1')

no-self-test

(default: True) Disable self test.

hd_monitor.py

To be ported

ram_monitor.py

The ram_monitor module allows users to monitor the RAM usage of their system in real-time. It publishes the usage percentage in a diagnostic message.

  • Name of the node is "ram_monitor_" + hostname.
  • Uses the following args:
    • warning_percentage: If the RAM usage is > warning_percentage, a WARN status will be published.
    • window: the maximum length of the used collections.deque for queuing CPU readings.

Published Topics

/diagnostics

diagnostic_msgs/DiagnosticArray The diagnostics information.

Parameters

warning_percentage

(default: 90) warning percentage threshold.

window

(default: 1) Length of RAM readings queue.

sensors_monitor.py

The sensors_monitor module allows users to monitor the temperature, volt and fan speeds of their system in real-time. It uses the LM Sensors package to get the data.

  • Name of the node is "sensors_monitor_" + hostname.

Published Topics

/diagnostics

diagnostic_msgs/DiagnosticArray The diagnostics information.

Parameters

ignore_fans

(default: false) Whether to ignore the fan speed.

tf_monitor.py

To be ported