System Monitor for Autoware

Further improvement of system monitor functionality for Autoware.

Description

This package provides the following nodes for monitoring system:

• CPU Monitor
• HDD Monitor
• Memory Monitor
• Network Monitor
• NTP Monitor
• Process Monitor
• GPU Monitor
• Voltage Monitor

Supported architecture

• x86_64
• arm64v8/aarch64

Operation confirmed platform

• PC system intel core i7

The following “once confirmed” platforms (or their successor) need to be tested again with the latest environment.

• NVIDIA Jetson AGX Xavier
• Raspberry Pi4 Model B

How to use

Use colcon build and launch in the same way as other packages.

colcon build
source install/setup.bash
ros2 launch autoware_system_monitor system_monitor.launch.xml

CPU and GPU monitoring method differs depending on platform.
CMake automatically chooses source to be built according to build environment.
If you build this package on intel platform, CPU monitor and GPU monitor which run on intel platform are built.

ROS topics published by system monitor

Every topic is published in 1 minute interval.

• CPU Monitor
• HDD Monitor
• Mem Monitor
• Net Monitor
• NTP Monitor
• Process Monitor
• GPU Monitor
• Voltage Monitor

[Usage] ✓：Supported, -：Not supported

ROS parameters

See ROS parameters.

Notes

File truncated at 100 lines see the full file

Changelog for package autoware_system_monitor

0.47.0 (2025-08-11)

• feat(autoware_system_monitor): publish gpu_status (#11022)

  • feat(autoware_system_monitor): publish gpu_status
  • style(pre-commit): autofix
  • fix cpplint
  • Make a get function const and change unsigned int variables to int
  • add destructor to call nvmlShutdown
  • add casting
  • add casting

  * Make shut_down method protected ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• feat(autoware_system_monitor): publish hdd_status (#11023)

  • feat(autoware_system_monitor): publish hdd_status
  • style(pre-commit): autofix
  • Improve HDD status handling: use emplace_back and safe vector access
  • style(pre-commit): autofix
  • remove try block and use read values

  * Improve df error handling ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• feat(autoware_system_monitor): publish cpu_temperature (#11020)

  • feat(autoware_system_monitor): publish cpu_temperature
  • style(pre-commit): autofix

  * make getter functions const ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• feat(autoware_system_monitor): publish memory_status (#11021)

  • feat(autoware_system_monitor): publish memory_status

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• feat(autoware_system_monitor): publish network_status (#11024)

  • feat(autoware_system_monitor): publish network_status
  • style(pre-commit): autofix
  • fix cppcheck

  * replace push_back with emblace_back ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• fix(autoware_system_monitor): fix a ticket link in CHANGELOG.rst (about v0.44.0) (#10966) fix: fix a ticket link in CHANGELOG.rst (about v0.44.0)

• fix: use autowarefoundation for CHANGELOG instead of youtalk fork (#10950)

• fix(autoware_system_monitor): allow variations of arm64 thermal zone type name (#10937)

  * Fixed the bug with which cpu_monitor fails to get CPU, GPU temperatures on Jetson AGX Orin.

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• fix: process_monitor should support negative priority (#10832) Fixed a bug of autoware_system_monitor/process_monitor with which negative process priorities are printed as huge integer. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>

• fix(cpu monitor): read /proc/stat directly instead of executing mpstat (#10873) Reduced CPU load for the "autoware_system_monitor / cpu_monitor"

File truncated at 100 lines see the full file