Publish system status with qrb_ros_system_monitor - Qualcomm Dragonwing Documentation

Pipeline flow for `qrb_ros_system_monitor`

The following figure shows the pipeline flow, which collects system information with the sysfs node and some system standard command tools and then publishes these data with ROS messages.

QRB ROS System Monitor modules reading proc, sysfs, and df sources and publishing the cpu, memory, disk, temperature, battery, and swap topics. — The qrb_ros_system_monitor pipeline.

ROS nodes used in the `qrb_ros_system_monitor` pipeline

The following table lists the ROS nodes used in the qrb_ros_system_monitor pipeline and describes what each node publishes.

ROS node	Description
`CpuMonitor`	Publishes CPU loading information.
`MemoryMonitor`	Publishes memory usage information.
`DiskMonitor`	Publishes disk usage information.
`SwapMonitor`	Publishes swap space information
`TemperatureMonitor`	Publishes CPU temperature.
`BatteryMonitor`	Publishes battery information.
`SystemInfoServer`	Serves for static system information, such as CPU count.

ROS topics used in the `qrb_ros_system_monitor` pipeline

The following table lists the ROS topics used in the qrb_ros_system_monitor pipeline, with the message type and a description of each topic.

ROS topic	Type	Description
`/cpu`	`qrb_ros_system_monitor::CpuMonitor`	CPU loading information.
`/memory`	`qrb_ros_system_monitor::MemoryMonitor`	Memory usage information.
`/disk`	`qrb_ros_system_monitor::DiskMonitor`	Disk usage information.
`/swap`	`qrb_ros_system_monitor::SwapMonitor`	Swap space information
`/temperature`	`qrb_ros_system_monitor::TemperatureMonitor`	CPU temperature.
`/battery`	`qrb_ros_system_monitor::BatteryMonitor`	Battery information.
`/system_info_server`	`qrb_ros_system_monitor::SystemInfoServer`	Static system information, such as CPU count.

ROS services used in the ROS topics used in `qrb_ros_system_monitor` pipeline

The following table lists the ROS services used in the qrb_ros_system_monitor pipeline, with the service type and a description.

ROS service	Type	Description
`/system_info_server`	`qrb_ros_system_monitor::SystemInfoServer`	Static system information, such as CPU count.

Prerequisites

You have set up the device, installed ROS2 Jazzy and the Qualcomm Intelligent Robotics (QIR) SDK on the device according to Install the QIR SDK.

Run out-of-the-box `qrb_ros_system_monitor`

In terminal 1, run qrb_ros_system_monitor

Run the system monitor

source /opt/ros/jazzy/setup.bash
ros2 run qrb_ros_system_monitor qrb_ros_system_monitor

In terminal 2, get the topics of this node and check system status as needed

List the topics and echo the system status

source /opt/ros/jazzy/setup.bash
ros2 topic list
# You can now echo system monitor, for example, /cpu
ros2 topic echo /cpu

Limitation

The system information values are collected by the sysfs node and Linux standard command-line tools. Therefore, if the sysfs path changes or the command-line tools output format changes, those ROS nodes may not work properly.

​Pipeline flow for qrb_ros_system_monitor

​ROS nodes used in the qrb_ros_system_monitor pipeline

​ROS topics used in the qrb_ros_system_monitor pipeline

​ROS services used in the ROS topics used in qrb_ros_system_monitor pipeline

​Prerequisites

​Run out-of-the-box qrb_ros_system_monitor

​Limitation