sonia_deploy

The SystemMonitor node is a monitoring tool used to observe, evaluate and showcase the operational status of the ROS2 nodes. The monitored nodes periodically publish their current state and health quality. The tool provides a summarized system health status of all the nodes it monitors.

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Dependencies

ROS 2 Distro

• Humble

ROS 2 Packages

• ament_cmake
• rclcpp
• std_msgs
• std_srvs

Sonia packages

• sonia_common_ros2

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Node

• Name: system_monitor

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Registered Topics / Services / Actions

Type	Name	Direction	Message/Service Type	Description
Topic	/system_monitor/node_status	Subscribed	sonia_common_ros2/msg/NodeStatus	Message contains stats from a node
Topic	/system_monitor/system_status	Published	sonia_common_ros2/msg/SystemStatus	Message contains a list of all monitored nodes and their stats

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Build Instructions

To build the project, the following commands should be run directly from your ROS2 workspace.

colcon build --packages-select sonia_deploy --symlink-install
source install/setup.bash

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Launch Instructions

Required environment variables to launch the project

export AUV={prototype_identifier}

replace {prototype_identifier} with available options: AUV8 | LITE1.

Default launch

The command launchs the mission server

ros2 launch sonia_deploy launch.py

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Useful ROS 2 Commands

ros2 node list
ros2 node info /system_monitor
ros2 topic echo /system_monitor/node_status
ros2 param list /system_monitor

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References

• sonia_common_ros2

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