rosgraph_monitor

Installation

mkdir ~/model_ws && cd ~/model_ws
wstool init src https://raw.githubusercontent.com/ipa320/rosgraph_monitor/main/.rosinstall
source /opt/ros/$ROS_DISTRO/setup.bash
rosdep update && rosdep install --from-paths ./src -y -i -r
catkin build

Usage

ROS system diagnostics

To generate rossystem model from the ROS graph and to compare it with a desired system, launch a system of choice:

# Terminal 1:
source ~/model_ws/devel/setup.bash
export TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

Start the rosgraph_monitor and listen to /diagnostics topic
(source ~/model_ws/devel/setup.bash on each new terminal)

# Terminal 2:
rosrun rosgraph_monitor monitor

# Terminal 3:
rosservice call /load_observer "name: 'ROSGraphObserver'"

#Terminal 4:
rostopic echo /diagnostics

To dump the rossystem model of the running system started above in Terminal 1 to file resources/test.rossystem:

# Terminal 2:
rosrun rosgraph_monitor rossystem_snapshot

Observers can now be loaded at startup. Below is an example to load ROSGraphObserver and DummyObserver. ROSGraphObserver also needs an additional private parameter _desired_rossystem with absolute path of rossystem file.

# Terminal 2:
rosrun rosgraph_monitor monitor --load ROSGraphObserver DummyObserver _desired_rossystem:=<path/to/file>test.rossystem

Property observer

To use a custom created property observer in the module observers (e.g. QualityObserver)

# Terminal 2:
rosrun rosgraph_monitor monitor

# Terminal 3:
rosservice call /load_observer "name: 'QualityObserver'"

#Terminal 4:
rostopic echo /diagnostics