Publish system status with qrb_ros_system_monitor

The qrb_ros_system_monitor sample application has various ROS nodes that publish system status information, such as CPU loading, memory usage, and disk space.

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Pipeline for qrb_ros_system_monitor

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

Figure: qrb_ros_system_monitor pipeline

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ROS nodes used in the qrb_ros_system_monitor pipeline

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ROS topics used in the qrb_ros_system_monitor pipeline

ROS topic	Message type	Published/Subscribed by	Description
/cpu	qrb_ros_system_monitor::CpuMonitor	Published by CpuMonitor	Publishes the CPU loading information.
/memory	qrb_ros_system_monitor::MemoryMonitor	Published by MemoryMonitor	Publishes the memory usage information.
/disk	qrb_ros_system_monitor::DiskMonitor	Published by DiskMonitor	Publishes the disk space information.
/swap	qrb_ros_system_monitor::SwapMonitor	Published by SwapMonitor	Publishes the swap space information.
/temperature	qrb_ros_system_monitor::TemperatureMonitor	Published by TemperatureMonitor	Publishes the CPU temperature.
/battery	qrb_ros_system_monitor::BatteryMonitor	Published by BatteryMonitor	Publishes the battery information.

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ROS services used in the qrb_ros_system_monitor pipeline

ROS topic	Message type	Served by	Description
/system_info_server	qrb_ros_system_monitor::SystemInfoServer	SystemInfoServer	Publishes static system information, such as CPU count.

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Prerequisites

You have Set up the device according to Set up the environment for running sample applications.

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Run out-of-the-box qrb_ros_system_monitor

1. Start two terminals, and run the following commands in each terminal to set up QIR SDK and ROS2 environment on the device.
   ssh root@[ip-addr]
   (ssh) source /usr/share/qirp-setup.sh
   
2. In terminal 1, run the system monitor ROS node.
   (ssh) ros2 run qrb_ros_system_monitor qrb_ros_system_monitor
   
3. In terminal 2, check the system information with ROS topic.
   (ssh) ros2 topic echo /cpu
   

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Build and run qrb_ros_system_monitor

1. Build qrb_ros_system_monitor provided by the QIR SDK on the host computer.
   cd <qirp_decompressed_workspace>
   source setup.sh
   cd qirp-samples/platform/qrb_ros_system_monitor
   colcon build --merge-install --cmake-args ${CMAKE_ARGS}
   
2. Push qrb_ros_system_monitor to the device.
   NoteEnsure that the QIR SDK is installed on the device.
   cd <qirp_decompressed_workspace>
   cd qirp-samples/platform/qrb_ros_system_monitor/install
   tar czvf qrb_ros_system_monitor.tar.gz lib share
   scp qrb_ros_system_monitor.tar.gz root@[ip-addr]:/opt/
   ssh root@[ip-addr]
   (ssh) tar --no-overwrite-dir --no-same-owner -zxf /opt/qrb_ros_system_monitor.tar.gz -C /usr/ros/jazzy/
   
3. Start two terminals, and run the following commands in each terminal to set up QIR SDK and ROS2 environment on the device.
   ssh root@[ip-addr]
   (ssh) source /usr/share/qirp-setup.sh
   
4. In terminal 1, run the system monitor ROS node.
   (ssh) ros2 run qrb_ros_system_monitor qrb_ros_system_monitor
   
5. In terminal 2, get the system information.
   (ssh) ros2 topic echo /cpu
   (ssh) ros2 topic echo /memory
   

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Limitation

The sysfs node and Linux standard command-line tools collect the system information values. Therefore, if the sysfs path changes or the output format of command-line tools changes, those ROS nodes may not work as expected.