ROS Monitoring

Short name: ROS-Mon

By DTI

Purpose

This component (ROS2 node) monitors other ROS2 nodes, e.g: are they running, publishers, subscribers, service, actions, and parameters. The component uses the standard ROS2-client library as data-source, so no additional functionality have to be implemented by monitored nodes.

Data interfaces

This component has a GUI as its output interface.

There are currently no plans to have other types of output. However, that might change if requested by users.

1. Input: configuration file
   • File type: .json
   • Format:

     {
       "node_names": [
         {
           "name":  "node",
           "namespace": "/",
           "full_name": "/node"
         },
         {
           "name":  "other_node",
           "namespace": "namespace/",
           "full_name": "/namespace/other_node"
         }
       ],
       "organization": "dti.dk",
       "app_name": "Moni2",
       "version": "0.1.0"
     }
     

   • Note: the configuration file can be created within the application.
2. Input: Status data
   • Format: primarily ROS2 messages
   • ROS2 service calls:
     • list_parameters: list a nodes parameters
     • get_parameters: retrieve specific information about a parameter
     • Note: all of the above is standard implemented for all ROS2 nodes.
   • ROS2 subscribers:
     • rosout: to get log-messages
   • rclpy methods to retrieve data:
     • get_node_names_and_namespaces(): retrieve a list of online nodes
     • get_publisher_names_and_types_by_node(): get a list of a nodes publishers
     • get_subscriber_names_and_types_by_node(): get a list of a nodes subscribers
     • get_service_names_and_types_by_node(): get a list of a nodes services
     • get_client_names_and_types_by_node(): get a list of a nodes clients
     • get_action_server_names_and_types_by_node() get a list of a nodes action-servers
     • get_action_client_names_and_types_by_node(): get a list of a nodes action-clients
   • Update-rate: every x seconds (default: x = 3)
3. Output: Dashboard/GUI