indra4837/system_health_monitor

Publishes state and publication rate of all nodes

System Health Monitor

This package contains a system_health_node to monitor status of running nodes and restarts them (by calling service).

ROS node sample graph

Using the package

1. Dependencies

Install rosmon

For ROS Melodic:

sudo apt-get install ros-melodic-rosmon

source /opt/ros/${ROS_DISTRO}/setup.bash # Needed to use the 'mon launch' shortcut

For more information please refer to the respective github and tutorial

2. Installation

Build the system_health_monitor package using catkin_make

3. Using rosmon

Rosmon is a replacement for roslaunch tool.

Note: Rosmon requires roscore and will not launch roscore automatically like roslaunch

For this project, use

mon launch system_health_monitor system_health_monitor.launch --name=rosmon --disable-diagnostics

4. Subscribed Topics

rosmon/state (rosmon_msgs/State)

State of all nodes running via rosmon

5. Published Topics

system_health (system_health_monitor/SystemNodeHealth)

State of all nodes for GUI to subscribe to

6. Services

~rosmon/start_stop (rosmon_msgs/StartStop)

Start of stop a controlled node