ROS Index
Repository Summary
| Description | Resource-monitoring ROS2 component node |
| Checkout URI | https://github.com/safe-ros/topnode.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-04 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| topnode | 0.1.0 |
| topnode_interfaces | 0.1.0 |
README
TopNode
A resource-monitoring component node for ROS 2.
Installation
On humble:
sudo apt install ros-humble-mcap-vendor
cd ~/ros2_ws/src
git clone https://github.com/safe-ros/topnode
cd ~/ros2_ws
colcon build
source ~/ros2_ws/install/setup.sh
On rolling:
sudo apt install ros-rolling-mcap-vendor
cd ~/ros2_ws/src
git clone https://github.com/safe-ros/topnode
cd ~/ros2_ws
colcon build
source ~/ros2_ws/install/setup.sh
Usage
To see that the workspace was correctly built and installed, the component should appear in the component list
$ ros2 component types
topnode
ResourceMonitorNode
Standalone Node
The standalone resource monitor may be started with
ros2 run topnode resource_monitor
Component Node
The primary intended use of the resource monitor is as a component node.
When the component is added to a running container, it will monitor the resource usage of that container.
Instrumenting a running container
To add the resource monitor node to an existing container:
ros2 component load $COMPONENT_MANAGER_NODE topnode ResourceMonitorNode
Instrumenting a container via launch
To add the resource monitor to a container via launch:
container = ComposableNodeContainer(
name='instrumented_container',
namespace='',
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=[
ComposableNode(
package='topnode',
plugin='ResourceMonitorNode',
name='resource_monitor',
parameters=[{
"publish_cpu_memory_usage": True,
"publish_memory_state": True,
"publish_io_stats": True,
"publish_stat": True,
"publish_period_ms": 500,
"record_cpu_memory_usage": True,
"record_memory_state": True,
"record_io_stats": True,
"record_stat": True,
}]),
],
output='screen',
)
Controlling the monitor via lifecycle
The monitor is implemented as a managed node
File truncated at 100 lines see the full file
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Contributors must sign-off each commit by adding a Signed-off-by: ...
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
Developer Certificate of Origin (DCO).