Skip to content

Add diagnostics monitor nodes #467

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 10 commits into
base: main
Choose a base branch
from
Open

Add diagnostics monitor nodes #467

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
49a181a
Add diagnostics monitor nodes
thomasegriffith Apr 3, 2025
a2dd357
remove no newline warning
thomasegriffith Apr 3, 2025
cb4c1e2
fix test
thomasegriffith Apr 3, 2025
da0837c
add comment explaining meaning of hd
thomasegriffith Jul 30, 2025
58c227f
change set_up_ament from True to False
thomasegriffith Jul 30, 2025
0ab77b6
Merge branch 'main' into main
thomasegriffith Jul 30, 2025
d651ab9
use 4.4.6 tag for the diagnostics archive
thomasegriffith Aug 29, 2025
f764e74
Merge branch 'mvukov:main' into main
thomasegriffith Aug 29, 2025
75734ea
tickle ci
thomasegriffith Aug 29, 2025
6a96d45
Update diagnostics.BUILD.bazel
thomasegriffith Aug 29, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
73 changes: 73 additions & 0 deletions repositories/diagnostics.BUILD.bazel
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,13 @@ load(
"ros2_cpp_library",
)
load("@com_github_mvukov_rules_ros2//ros2:plugin.bzl", "ros2_plugin")
load("@com_github_mvukov_rules_ros2//ros2:py_defs.bzl", "ros2_py_binary")
load("@rules_python//python:defs.bzl", "py_library")
load("@rules_ros2_pip_deps//:requirements.bzl", "requirement")

ros2_cpp_library(
name = "cpp_diagnostic_updater",
srcs = ["diagnostic_updater/src/diagnostic_updater.cpp"],
hdrs = glob(["diagnostic_updater/include/**/*.hpp"]),
includes = ["diagnostic_updater/include"],
visibility = ["//visibility:public"],
Expand Down Expand Up @@ -93,3 +96,73 @@ ros2_cpp_binary(
"@ros2_rclcpp//:rclcpp",
],
)

ros2_py_binary(
Copy link
Owner

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Sorry for the delay. Why do you need set_up_ament = True? How is this supposed to work in practice? Just launch the nodes?

Copy link
Contributor Author

@thomasegriffith thomasegriffith Jul 30, 2025 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I suppose we don't need it. Change to False. Thanks!

name = "cpu_monitor_node",
srcs = ["diagnostic_common_diagnostics/diagnostic_common_diagnostics/cpu_monitor.py"],
main = "diagnostic_common_diagnostics/diagnostic_common_diagnostics/cpu_monitor.py",
set_up_ament = False,
visibility = ["//visibility:public"],
deps = [
":py_diagnostic_updater",
"@ros2_common_interfaces//:py_diagnostic_msgs",
"@ros2_rclpy//:rclpy",
requirement("psutil"),
],
)

# The "hd" in "hd_monitor_node" means "hard drive". We name it "hd_monitor_node" to stay
# consistent with the upstream name.
ros2_py_binary(
name = "hd_monitor_node",
Copy link
Owner

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

What is hd?

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

It stands for "hard drive". hd_monitor_node has an unfortunate name, but I figure we ought to keep the naming consistent with the upstream stuff. To help out on our end, I added a comment clarifying this is "hard drive".

srcs = ["diagnostic_common_diagnostics/diagnostic_common_diagnostics/hd_monitor.py"],
main = "diagnostic_common_diagnostics/diagnostic_common_diagnostics/hd_monitor.py",
set_up_ament = False,
Copy link
Owner

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Why do you need set_up_ament = False here and below? If not necessary, please remove.

visibility = ["//visibility:public"],
deps = [
":py_diagnostic_updater",
"@ros2_common_interfaces//:py_diagnostic_msgs",
"@ros2_rclpy//:rclpy",
],
)

ros2_py_binary(
name = "ntp_monitor_node",
srcs = ["diagnostic_common_diagnostics/diagnostic_common_diagnostics/ntp_monitor.py"],
main = "diagnostic_common_diagnostics/diagnostic_common_diagnostics/ntp_monitor.py",
set_up_ament = False,
visibility = ["//visibility:public"],
deps = [
":py_diagnostic_updater",
"@ros2_common_interfaces//:py_diagnostic_msgs",
"@ros2_rclpy//:rclpy",
requirement("ntplib"),
],
)

ros2_py_binary(
name = "ram_monitor_node",
srcs = ["diagnostic_common_diagnostics/diagnostic_common_diagnostics/ram_monitor.py"],
main = "diagnostic_common_diagnostics/diagnostic_common_diagnostics/ram_monitor.py",
set_up_ament = False,
visibility = ["//visibility:public"],
deps = [
":py_diagnostic_updater",
"@ros2_common_interfaces//:py_diagnostic_msgs",
"@ros2_rclpy//:rclpy",
requirement("psutil"),
],
)

ros2_py_binary(
name = "sensors_monitor_node",
srcs = ["diagnostic_common_diagnostics/diagnostic_common_diagnostics/sensors_monitor.py"],
main = "diagnostic_common_diagnostics/diagnostic_common_diagnostics/sensors_monitor.py",
set_up_ament = False,
visibility = ["//visibility:public"],
deps = [
":py_diagnostic_updater",
"@ros2_common_interfaces//:py_diagnostic_msgs",
"@ros2_rclpy//:rclpy",
],
)
6 changes: 3 additions & 3 deletions repositories/repositories.bzl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -301,9 +301,9 @@ def ros2_repositories():
http_archive,
name = "ros2_diagnostics",
build_file = "@com_github_mvukov_rules_ros2//repositories:diagnostics.BUILD.bazel",
sha256 = "a723dae7acf0f00ee643c076c7c81299be0254919f29225ec7a89dc14cb8ea6f",
strip_prefix = "diagnostics-9f402787ea2c9b3dd4d7e51a9986810e8a3400ba",
urls = ["https://github.com/ros/diagnostics/archive/9f402787ea2c9b3dd4d7e51a9986810e8a3400ba.zip"],
sha256 = "22f3e6cf118bc76bdbd466106f4f0dd94382277d3fc7eb5248d2fcf26be8d411",
strip_prefix = "diagnostics-4.4.6",
urls = ["https://github.com/ros/diagnostics/archive/refs/tags/4.4.6.zip"],
)

maybe(
Expand Down
1 change: 1 addition & 0 deletions requirements.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@ catkin_pkg
coverage
empy==3.3.*
lark-parser
ntplib
numpy~=1.23
packaging
psutil
Expand Down
4 changes: 4 additions & 0 deletions requirements_lock.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,10 @@ lark-parser==0.12.0 \
--hash=sha256:0eaf30cb5ba787fe404d73a7d6e61df97b21d5a63ac26c5008c78a494373c675 \
--hash=sha256:15967db1f1214013dca65b1180745047b9be457d73da224fcda3d9dd4e96a138
# via -r requirements.txt
ntplib==0.4.0 \
--hash=sha256:899d8fb5f8c2555213aea95efca02934c7343df6ace9d7628a5176b176906267 \
--hash=sha256:8d27375329ed7ff38755f7b6d4658b28edc147cadf40338a63a0da8133469d60
# via -r requirements.txt
numpy==1.26.4 \
--hash=sha256:03a8c78d01d9781b28a6989f6fa1bb2c4f2d51201cf99d3dd875df6fbd96b23b \
--hash=sha256:08beddf13648eb95f8d867350f6a018a4be2e5ad54c8d8caed89ebca558b2818 \
Expand Down
2 changes: 1 addition & 1 deletion ros2/test/diagnostics/diagnostic_publisher.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@

class Publisher : public rclcpp::Node {
public:
Publisher() : Node("heartbeat_publisher"), diagnostic_updater_{this} {
Publisher() : Node("heartbeat_publisher"), diagnostic_updater_(this) {
Copy link
Owner

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

This change seems to be unrelated to this PR. Please revert.

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

The CI fails without this change. Looks like the log expired, but it's a brace initialization problem.

Between versions 9f402787ea2c9b3dd4d7e51a9986810e8a3400ba and 207f0c0f1f8e9bd1842a07d90459aa9a2b670c23 of ros/diagnostics, they moved one of the Updater constructors from a header file to a source file. That constructor is then used by the templated constructor. Since we're using the templated constructor, brace initialization requires that its definition is completely visible from the header file. Since it's delegating to another constructor that's now defined in the source file, brace initialization won't work.

I should have put the reason for this in the PR description. Added!

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

To be more clear: they moved the definition of this constructor to a source file.

It's used by the templated constructor on line 371.

diagnostic_updater_.setHardwareID("none");
diagnostic_updater_.add("", &diagnostic_heartbeat_,
&diagnostic_updater::Heartbeat::run);
Expand Down