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Monitor CPU - RAM etc over ROS

asked 2016-12-19 03:20:13 -0500

fabbro gravatar image

Hi,

I am using an ODROID-XU4 on a quadrotor. On the ODROID is running ROS. To the Odroid is also connected to a camera flea3 by PointGrey. I am launching the pointgrey node to connect to the camera and it is working fine.

I am not sure but it seems that when I increase the frequency of acquisition of the camera (from 30 Hz and greater) the quadrotor becomes a bit unstable. It does not happen all the time but sometime. Because I don't know where this behavior is coming from I thought that it could come from the CPU/RAM which are working too much.

For this reason I was thinking if there is some tool which enables to store a rosbag file which then can be easily plotted to check the allocation of RAM and CPU when the frequency changes.

Thanks in advance for your help.

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answered 2016-12-28 10:43:06 -0500

Mani gravatar image

updated 2017-01-03 12:23:25 -0500

There are not many runtime performance monitoring solutions for ROS. You can look at the following tools:

  • rqt_top It's similar to top for ROS nodes running locally on your machine. It requires a graphical desktop environment to run since it only monitors the local machine it is running on.
  • drums I wrote this tool two years ago. It should do what you are looking for both at host and process level. The documentation is far from perfect, but I may be able to assist you get it to run on your machine. You can log the data both to rosbag and to a time series database.
  • arni This is similar to drums but with better documentation. The main difference is drums does not rely on ROS for gathering the statistics and also implements its own light-weight publish/subscribe middleware to collect and store the performance metrics. Unlike drums, arni comes with some fault recovery mechanisms built-in.
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Asked: 2016-12-19 03:20:13 -0500

Seen: 759 times

Last updated: Jan 03 '17