fix(system_monitor): add parameter to launch system_monitor and fix hdd_monitor

[ito-san]

Signed-off-by: ito-san fumihito.ito@tier4.jp

Description

• Add launch parameter to launch system_monitor or not.
  The system monitor should be configured according to system configuration but it it difficult to cover all system configurations all over the world, so we made the system_monitor optional.

  • The system_monitor launches by default but it does not launch in planning_simulator and logging_simulator.

• Fixed the error regarding hdd_monitor because old parameter is used.

  [system.system_monitor.hdd_monitor] getDeviceFromMountPoint(): Failed to execute findmnt. /dev/sda3

Related links

#630

Tests performed

Planning simulation

• Default (without system_monitor)

  ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

• With system_monitor (launch_system_monitor:=true)

  ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit launch_system_monitor:=true

Rosbag replay simulation

• Default (without system_monitor)

  ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
  (another console) ros2 bag play ~/autoware_map/sample-rosbag/sample.db3 -r 1 -s sqlite3

• With system_monitor (launch_system_monitor:=true)

  ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit launch_system_monitor:=true
  (another console) ros2 bag play ~/autoware_map/sample-rosbag/sample.db3 -r 1 -s sqlite3

---

Verification

• Default (without system_monitor)

  1. Verify no nodes of system_monitor running.

     ros2 node list | grep system_monitor
      
      

  2. Verify no error in console regarding system_monitor.
  3. Verify stales are reported in robot_monitor regarding system_monitor.

     ros2 run rqt_robot_monitor rqt_robot_monitor

     

• With system_monitor

  1. Verify all nodes of system_monitor running.

     ros2 node list | grep system_monitor
     /system/system_monitor/cpu_monitor
     /system/system_monitor/gpu_monitor
     /system/system_monitor/hdd_monitor
     /system/system_monitor/mem_monitor
     /system/system_monitor/net_monitor
     /system/system_monitor/ntp_monitor
     /system/system_monitor/process_monitor
     /system/system_monitor/system_monitor/system_monitor_container
     /system/system_monitor/voltage_monitor

  2. Verify no error in console regarding system_monitor.
  3. Verify no error in robot_monitor regarding system_monitor.

     ros2 run rqt_robot_monitor rqt_robot_monitor

     

Notes for reviewers

Here is related PR that should be merged at the same time.
autowarefoundation/autoware_launch#113

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[yukkysaito]

LGTM

[kenji-miyake]

I'm so sorry to be late, LGTM!