QRB ROS System Monitor

Overview

QRB ROS System Monitor is a ROS package to publish system informations.

Main features:

/cpu: Topic for CPU usage informations
/memory: Topic for memory usage informations
/disk: Topic for disk usage informations
/swap: Topic for swap partition informations
/temperature: Topic for CPU temperature
/battery: Topic for device battery level
/system_info_server: Service for providing system informations.

System Requirements

Linux, now only support Linux systems

Quickstart

Currently, we only support build with QCLINUX SDK.

Setup QCLINUX SDK: Environment setup
Create ros_ws directory in <qirp_decompressed_workspace>/qirp-sdk/
```
mkdir -p <qirp_decompressed_workspace>/qirp-sdk/ros_ws
```
Clone this repository and dependencies under <qirp_decompressed_workspace>/qirp-sdk/ros_ws
```
git clone https://github.com/quic-qrb-ros/qrb_ros_system_monitor.git
```

Build projects

export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages

colcon build --merge-install --cmake-args \
   -DPython3_ROOT_DIR=${OECORE_TARGET_SYSROOT}/usr \
   -DPython3_NumPy_INCLUDE_DIR=${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
   -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu -DCMAKE_STAGING_PREFIX=$(pwd)/install \
   -DCMAKE_PREFIX_PATH=$(pwd)/install/share \
   -DBUILD_TESTING=OFF

Run

cd <qirp_decompressed_workspace>/qirp-sdk/ros_ws/install
tar czvf qrb_ros_system_monitor.tar.gz lib share
scp qrb_ros_system_monitor.tar.gz root@[ip-addr]:/opt/
ssh ssh root@[ip-addr]
(ssh) tar -zxf /opt/qrb_ros_system_monitor.tar.gz -C /opt/qcom/qirp-sdk/usr/

Packages

Supported Platforms

This package is designed and tested to be compatible with ROS 2 Humble running on Qualcomm RB3 gen2.

Hardware	Software
Qualcomm RB3 gen2	LE.QCROBOTICS.1.0

Updates

Date	Changes
2024-10-19	Initial release