Note: This is currently an experimental package.

This message is used to publish the statistics of measured data points, for example system CPU percentage, system free memory percentage, message age, etc.

The goal of this package is to provide lightweight, real-time system metrics to enable system debugging and diagnosis of ROS2 systems (currently Linux only). It automatically collects and aggregates CPU % used and memory % used of both system and ROS2 processes. Data is aggregated in order to provide constant time average, min, max, sample count, and standard deviation values for each collected metric.

Please see the package README for more details.

To build from source you'll need to create a new workspace, clone and checkout the latest release branch of this repository, install all the dependencies, and compile. If you need the latest development features you can clone from the master branch instead of the latest release branch. While we guarantee the release branches are stable, the master should be considered to have an unstable build due to ongoing development.git diff

• Create a ROS2 workspace and a source directory

mkdir -p ~/ros2-workspace/src

• Clone the package into the source directory

cd ~/ros2-workspace/src
git clone [email protected]:ros-tooling/system_metrics_collector.git

• Install dependencies

cd ~/ros2-workspace
sudo apt-get update && rosdep update
rosdep install --from-paths src --ignore-src -r -y

Note: If building the master branch instead of a release branch you may need to also checkout and build the master branches of the packages this package depends on.

• Build the packages

cd ~/ros2-workspace && colcon build

• Configure ROS2 library Path

source ~/ros2-workspace/install/local_setup.bash

• Run the unit tests

colcon test && colcon test-result --all

The source code is released under an Apache 2.0.

Maintainer: ROS Tooling Working Group, [email protected]