README

ros2_medkit_linux_introspection

Gateway discovery plugin that exposes Linux process-level diagnostics via vendor extension endpoints. Maps ROS 2 nodes to OS processes and reports CPU, memory, systemd unit status, and container context.

Plugins

Plugin	Endpoint	Data Source
procfs_plugin	x-medkit-procfs	/proc/[pid]/{stat,status,cmdline} - CPU time, memory, threads, FDs
systemd_plugin	x-medkit-systemd	D-Bus sd-bus API - unit state, resource usage
container_plugin	x-medkit-container	Cgroup hierarchy - container runtime, resource limits

Key Components

• ProcReader - Parses procfs files for process metrics with configurable proc root

• CgroupReader - Reads cgroup v2 hierarchy for container/service context

• SystemdUtils - Queries systemd via D-Bus for service metadata

• PidCache - TTL-based cache mapping ROS 2 node names to Linux PIDs

Configuration

Configure via gateway_params.yaml plugin parameters:

plugins: ["linux_introspection"]
plugins.linux_introspection.path: "/path/to/libros2_medkit_linux_introspection.so"
plugins.linux_introspection.pid_cache_ttl_sec: 30
plugins.linux_introspection.proc_root: "/proc"

Documentation

• Linux Introspection Tutorial

• Plugin System Guide

License

Apache License 2.0