ROS 2 Health Monitoring Components

Caution

This repository has been archived in favor of using https://github.com/ros-tooling/graph-monitor The packages rmw_stats_shim, rosgraph_monitor, and rosgraph_monitor_msgs now are maintained at that new location. telegraf_bridge does not yet have a new home, but will not be moved forward here.

A collection of packages for monitoring the health of an entire ROS 2 application.

As presented at ROSCon 2024 in "ROS robot health monitoring, the Bonsai approach": https://vimeo.com/1024971769

Also see https://github.com/BonsaiRobotics/roscon2024_health_sample for a sample application setting up these components.

See each package's README for more detailed information.

Packages here:

• rmw_stats_shim - RMW wrapper to gather and report global topic statistics
• rosgraph_monitor - Single component to monitor the ROS graph as a whole and publish diagnostics
• rosgraph_monitor_msgs - Messages for reporting graph monitoring information
• telegraf_bridge - Node to collect local ROS information and forward to Telegraf for using in backend timeseries infrastructure

Also note:

• patched rmw_implementation
  • Needed to use rmw_stats_shim