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 successors) 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

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Changelog for package autoware_system_monitor

0.53.0 (2026-09-29)

• Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

• fix(autoware_system_monitor): migrate deprecated NVML APIs for CUDA 13 (#12742)

  * fix(autoware_system_monitor): migrate deprecated NVML APIs for CUDA 13 CUDA 13 (NVML API v13) deprecates nvmlDeviceGetTemperature() and nvmlDeviceGetCurrentClocksThrottleReasons(); with -Werror=deprecated-declarations this breaks the build. Switch to nvmlDeviceGetTemperatureV() and nvmlDeviceGetCurrentClocksEventReasons() behind an NVML_API_VERSION>=13 guard so autoware_system_monitor keeps building on both CUDA 13+ and older toolkits. The throttle/event reason bitmask and the macro-based reason constants are unchanged (only the deprecated function calls are replaced).

  • fix(autoware_system_monitor): handle future NVML clock reason APIs
  • fix(autoware_system_monitor): avoid duplicate NVML reason formatting

  * fix(autoware_system_monitor): define all NVML clock event reasons Use file-local constants for all nine clock event reasons so the reason formatter does not directly reference raw NVML identifiers. Keep the hardware slowdown constants in the compatibility layer alongside the SDK-specific event and throttle aliases. ---------Co-authored-by: nishikawa-masaki <<195264944+nishikawa-masaki@users.noreply.github.com>>

• fix(system): declare the dependencies these packages use (#13217)

• refactor(system): move node design files into each package (#13103) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

• feat(autoware_system_monitor): add argument to override hdd_mount_point (#13129)

  • feat(autoware_system_monitor): add argument to override hdd_mount_point

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• fix(autoware_system_monitor): add missing dependency to edac-utils (#13127) fix(autoware_system_monitor): add missing dependency to edac_utils

• Contributors: Max-Bin, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• feat(autoware_system_monitor): change diagnostic logic for mem_monitor (#11971)

  * feat(autoware_system_monitor): change diagnostic logic for mem_monitor (#11971) ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• Contributors: Takayuki AKAMINE, github-actions

0.50.0 (2026-02-14)

• Merge remote-tracking branch 'origin/main' into humble
• feat: system related packages support jazzy (#11626)
• Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble

• fix(net_monitor): autoware_system_monitor should report ERROR as the status summary for Network Usage when a connection is down (#11488)

  * If any network on the "devices:" list in the "net_monitor.param.yaml" configuration file is disconnected or unavailable, the status summary of "Network Usage" is reported as

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