husarion_ugv_diagnostics

Package for diagnosting usage of OS on the Husarion UGV robot

• Links
  • Rosindex
  • Website
  • Repository
  • Bugtracker
• C++ API
  • Class Hierarchy
  • File Hierarchy
  • Full C++ API
• Standard Documents
  • README
  • PACKAGE
  • CHANGELOG

README

husarion_ugv_diagnostics

Package containing nodes monitoring and publishing the Built-in Computer status of Husarion UGV.

Launch Files

• system_monitor.launch.py: Launch a node that analyzes the state of the most important components in the robot

Configuration Files

• system_monitor.yaml: Defines parameters for system_monitor_node.

ROS Nodes

system_monitor_node

Publishes the built-in computer system status, monitoring parameters such as CPU usage, RAM usage, disk usage, and CPU temperature.

Publishes

• diagnostics [diagnostic_msgs/DiagnosticArray]: System monitor diagnostic messages.

• system_status [husarion_ugv_msgs/SystemStatus]: Built-in computer system status, includes the most important computation-related parameters.

Parameters

• cpu_usage_warn_threshold [float, default: 95.0]: Threshold for CPU usage warning in percentage.

• cpu_temperature_warn_threshold [float, default: 80.0]: Threshold for CPU temperature warning in degrees Celsius.

• ram_usage_warn_threshold [float, default: 90.0]: Threshold for memory usage warning in percentage.

• disk_usage_warn_threshold [float, default: 90.0]: Threshold for disk usage warning in percentage.

• publish_frequency [double, default: 5.0]: System status publishing frequency [Hz].