2. Clone repo in ros2 workspace

``` cd dev_ws/src
``` <br/>

``` git clone https://github.com/NVIDIA-AI-IOT/ros2_jetson_stats.git
``` <br/>
3. Build

``` sudo rosdep install --from-paths ros2_jtop --ignore-src --rosdistro eloquent -y 
``` <br/>

``` colcon build 
``` <br/>

``` . install/setup.bash 
```<br/>

### Usage

The basic usage consists of creating `diagnostics_msgs` and services for control fan mode/speed, setting up `jetson_clocks`, and power mode.

1. Run JTOP node: <br/>

``` ros2 run ros2_jetson_stats ros2_jtop 
```<br/>
If you want to change frequency of JTOP messages, do following:<br/>

``` ros2 run ros2_jetson_stats ros2_jtop --ros-args -p interval:=0.2
```<br/>
*Note: JTOP frequency is from 0 - 1 range*

2. You can see diagnostic messages using following command:

``` sudo . install/setup.bash 
``` <br/>

``` sudo . install/local_setup.bash 
``` <br/>

``` ros2 run rqt_topic rqt_topic 
``` <br/>
*Note: for default interval you will see message frequency ~2Hz if you change interval to 0.2 the message frequency will change to 6Hz*

3. To run JTOP services:<br/>
    You will need to keep running 
```ros2_jetson_stats
``` ; as shown in step 1. <br/>
    A. Change Power Model:<br/>
    Open new terminal <br/>
    
``` sudo . install/local_setup.bash 
``` <br/>
    
```ros2 service call /jtop/nvpmodel jtop_services/srv/NVPModel "{nvpmodel: 0}"
``` <br/>

    This will change power mode to 
``` 15 W 2 Core 
``` on Jetson Xavier NX
    Following Message will appear on the terminal: <br/>
    

requester: making request: jtop_services.srv.NVPModel_Request(nvpmodel=2)

response:
jtop_services.srv.NVPModel_Response(power_mode='MODE_15W_2CORE')

    B. Change Fan mode and Fan Speed:<br/>
    Open new terminal <br/>
    
``` sudo . install/local_setup.bash 
``` <br/>
    
```ros2 service call /jtop/fan jtop_services/srv/Fan "{mode: system, speed: 100}"
``` <br/>

    This will change fan speed to 100; you can see Jetson Fan being turned on.

    

requester: making request: jtop_services.srv.Fan_Request(mode='system', speed=100)

response:
jtop_services.srv.Fan_Response(set_fan_mode='system', set_fan_speed=100)

C. Start Jetson Clocks:
Open new terminal <br/>