rosgraph_monitor

Monitors the ROS graph to detect error conditions

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README

Rosgraph Monitor

Provides a C++ class RosgraphMonitor, which uses a node’s NodeGraphInterface and subscribes to /topic_statistics to monitor the ROS computation graph and produce /diagnostics (DiagnosticArray) about issues in the graph:

• Missing Nodes (nodes that were present and are now missing)

• Discontinuities in graph (publishers or subscriptions that have no counterparts)

• Data flow issues (topics not publishing at promised rate)

  • /topic_statistics required for this. See rmw_stats_shim for how those are produced

This also provides a rosgraph_monitor_node for standalone use, for users who do not need custom integration of the RosgraphMonitor class.

Topic Statistics Diagnostics

To set expectations for Topic Statistics Diagnostics, you must:

1. Set the Deadline QoS policy on Publishers

2. Nothing else. You don’t need to set it on Subscriptions, or register DeadlineMissed callbacks. Just state your periodic promise via Deadline QoS.

Configuration

See params_decl.yaml for the full parameters for the rosgraph_monitor Node.

These parameters mirror the structure rosgraph_monitor::GraphMonitorConfiguration in monitor.hpp, for those using the class directly instead of in the wrapping Node.

Usage

ros2 run rosgraph_monitor rosgraph_monitor_node