General information about this repository, including legal information, build instructions and known issues/limitations, are given in README.md in the repository root.

The diagnostic_common_diagnostics package

This package provides generic nodes to monitor a Linux host.

Currently only the NTP monitor is ported to ROS2.

Nodes

cpu_monitor.py

The cpu_monitor module allows users to monitor the CPU usage of their system in real-time. It publishes the usage percentage in a diagnostic message.

• Name of the node is “cpu_monitor_” + hostname.
• Uses the following args:
  • warning_percentage: If the CPU usage is > warning_percentage, a WARN status will be publised.
  • window: the maximum length of the used collections.deque for queuing CPU readings.

Published Topics

/diagnostics

diagnostic_msgs/DiagnosticArray The diagnostics information.

Parameters

warning_percentage

(default: 90) warning percentage threshold.

window

(default: 1) Length of CPU readings queue.

ntp_monitor.py

Runs ‘ntpdate’ to check if the system clock is synchronized with the NTP server.

• If the offset is smaller than offset-tolerance, an OK status will be published.
• If the offset is larger than the configured offset-tolerance, a WARN status will be published,
• if it is bigger than error-offset-tolerance, an ERROR status will be published.
• If there was an error running ntpdate, an ERROR status will be published.

Published Topics

/diagnostics

diagnostic_msgs/DiagnosticArray The diagnostics information.

Parameters

ntp_hostname

(default: “pool.ntp.org”) Hostname of NTP server.

offset-tolerance”

(default: 500) Allowed offset from NTP host. Above this is a warning.

error-offset-tolerance

(default: 5000000) If the offset from the NTP host exceeds this value, it is reported as an error instead of warning.

self_offset-tolerance

(default: 500) Offset from self

diag-hostname

Computer name in diagnostics output (ex: ‘c1’)

no-self-test

(default: True) Disable self test.

hd_monitor.py

Runs ‘shutil.disk_usage’ to check if there is enough space left on a given device. With default parameters, the following thresholds are used:

• Above 5% of free space left, an OK status will be published.
• Between 5% and 1%, a WARN status will be published,
• Below 1%, an ERROR status will be published.

Published Topics

/diagnostics

diagnostic_msgs/DiagnosticArray The diagnostics information.

Parameters

path

(default: home directory “~”) Path in which to check remaining space.

free_percent_low

(default: 5%) Warning threshold.

free_percent_crit

(default: 1%) Error threshold.

ram_monitor.py

The ram_monitor module allows users to monitor the RAM usage of their system in real-time. It publishes the usage percentage in a diagnostic message.

• Name of the node is “ram_monitor_” + hostname.
• Uses the following args:
  • warning_percentage: If the RAM usage is > warning_percentage, a WARN status will be published.
  • window: the maximum length of the used collections.deque for queuing RAM readings.

Published Topics

/diagnostics

diagnostic_msgs/DiagnosticArray The diagnostics information.

Parameters

warning_percentage

(default: 90) warning percentage threshold.

window

(default: 1) Length of RAM readings queue.

sensors_monitor.py

The sensors_monitor module allows users to monitor the temperature, volt and fan speeds of their system in real-time. It uses the LM Sensors package to get the data.

• Name of the node is “sensors_monitor_” + hostname.

Published Topics

/diagnostics

diagnostic_msgs/DiagnosticArray The diagnostics information.

Parameters

ignore_fans

(default: false) Whether to ignore the fan speed.

tf_monitor.py

To be ported

Changelog for package diagnostic_common_diagnostics

4.2.4 (2025-05-12)

4.2.2 (2025-02-10)

• common_diagnostics cleaned hostname string (#405) (#421) * Hostnames are properly cleaned to only contain alphanumeric characters or underscore. Co-authored-by: sjusner <<simon.jusner@knapp.com>>

• Add missing rclpy dependency to common_diagnostics to fix rosdoc2 output (#402) (#408) Co-authored-by: R Kent James <<kent@caspia.com>>
• Contributors: Christian Henkel

4.2.1 (2024-07-30)

• fixing pep257 problems introduced by #334 (#384) (#392)
• Fixing ntp launchtest (#330) (#391)
• Port hd_monitor to ROS2 (#334) (#383)
• Contributors: Christian Henkel, Richardvdketterij, Richard

4.0.1 (2024-06-27)

• refactor(sensors_monitor): ros2 port #339 (#367)
• refactor(ram_monitor): ros2 port (#338)
• NTP monitor improvements (#342)
• Using ubuntu ntp server in systemtest (#346)
• Contributors: Christian Henkel, Rein Appeldoorn, Tony Najjar

4.0.0 (2024-03-22)

• Port cpu_monitor to ROS2 (#326)
• Debugging instability introduced by #317 (#323)
• not testing on foxy any more (#310)
• Iron support (#304)
• Contributors: Christian Henkel, Richard

3.1.2 (2023-03-24)

• replacing ntpdate with ntplib (#289)
• Contributors: Christian Henkel

3.1.1 (2023-03-16)

• Secretly supporting galactic (#295)
• Linting additional package (#268)
• Maintainer update
• Contributors: Austin, Christian Henkel, Ralph Lange

3.1.0 (2023-01-26)

• Adding READMEs to the repo (#270)
• License fixes (#263)
• Fix/cleanup ros1 (#257)
• Port ntp_monitor to ROS2 (#242)
• Contributors: Austin, Christian Henkel, RFRIEDM-Trimble, Ralph Lange

1.9.3 (2018-05-02)

1.9.2 (2017-07-15)

• FIX: add missing dependency
• Contributors: trainman419

1.9.1 (2017-07-15)

• Add queue size parameters on Publishers
• Minor python updates
• Added CPU percentage monitor CPU monitor that outputs the average CPU percentage and a percentage per CPU. The user can specify the warning CPU percentage. When one CPU exceeds this percentage, the diagnostics status is set to WARN.
• Contributors: Rein Appeldoorn, trainman419

1.9.0 (2017-04-25)

• Remove warning for missing queue size specification
• Contributors: sandeep

1.8.10 (2016-06-14)

1.8.9 (2016-03-02)

1.8.8 (2015-08-06)

1.8.7 (2015-01-09)

• Remove libsensors node because it isn't portable.
• Contributors: trainman419

1.8.6 (2014-12-10)

• Add voltage sensor support
• Add ignore_sensors parameter
• Add license agreement
• Style cleanup and error handling
• Initial commit of libsensors based sensors_monitor
• Contributors: Mitchell Wills, trainman419

1.8.5 (2014-07-29)

1.8.4 (2014-07-24 20:51)

1.8.3 (2014-04-23)

• ntp_diagnostic now publishing more frequently to avoid stale
• added install rules for the common diagnostics scripts
• Contributors: Brice Rebsamen

1.8.2 (2014-04-08)

1.8.1 (2014-04-07)

• Add myself as maintainer
• fixed exporting python API to address #10
• Contributors: Austin Hendrix, Brice Rebsamen

1.8.0 (2013-04-03)

1.7.11 (2014-07-24 20:24)

1.7.10 (2013-02-22)

• Changed package.xml version number before releasing
• added missing license header
• added missing license header
• Contributors: Aaron Blasdel, Brice Rebsamen

1.7.9 (2012-12-14)

• add missing dep to catkin
• updated setup.py
• Contributors: Dirk Thomas

1.7.8 (2012-12-06)

• fix setup.py requires
• Contributors: Dirk Thomas

1.7.7 (2012-11-10)

1.7.6 (2012-11-07 23:32)

1.7.5 (2012-11-07 21:53)

1.7.4 (2012-11-07 20:18)

1.7.3 (2012-11-04)

1.7.2 (2012-10-30 22:31)

1.7.1 (2012-10-30 15:30)

• fix a few things after the first release
• Contributors: Vincent Rabaud

1.7.0 (2012-10-29)

• catkinize the stack
• backport the Python API from 1.7.0
• Contributors: Vincent Rabaud