Integration of energy framework with ROS

asked 2014-04-11 12:33:43 -0500

JaysonJT gravatar image

I am currently working on a software framework to monitor the energy consumption of robots or any embedded device. I wanted to build my framework in a similar manner as ROS.

At the moment, I have created a user API that does the following (front end):

  1. a user can create a probe (a data structure used to collect data from an energy source) and associate it with a device attached to the embedded board.
  2. set a checkpoint with respect to any probe that is already created; once set, energy monitoring of the corresponding device begins.
  3. A user can 'sampleCheckpoint' at which point the latest energy reading collected from the corresponding device is returned.
  4. Finally, a user can also delete checkpoints and probes.

This framework allows users to profile their code for energy consumption. (I have also created the back-end but is not relevant to the question I want to ask, so I am not including its details here.)

Is it possible to integrate my framework with ROS? For example, I would like to profile devices attached to a central machine running ROS. Is it possible to set checkpoints and sample them within a node process, along with the rest of the ROS API? If yes, may I know how I would go about doing this?

Thank you very much.

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