ROS Index
|
rmw_stats_shim package from graph_monitor repormw_stats_shim rosgraph_monitor rosgraph_monitor_msgs |
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-tooling/graph-monitor.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-09 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Partial RMW shim library to instrument RMW API calls
Additional Links
No additional links.
Maintainers
- Bonsai Robotics Engineering
Authors
No additional authors.
RMW Stats Shim
Depends on a modified version of rmw_implementation to provide topic statistics calculation within the RMW layer of each node, without having to instrument application code.
This component
- Wraps & intercepts some RMW API calls
- Calculates “published period” statistics for every Publisher
- Calculates “received period” statistics for every Subscription
- Calculates “take age” statistics for every Subscription
- This is the different between publish system timestamp and the time at which
rmw_takeis called, so is the sum of network latency plus executor latency
- This is the different between publish system timestamp and the time at which
- Creates a
/topic_statisticsPublisher for every Node and publishes to it periodically about the statistics from within the node
Key points:
- Requires no subscriptions, no extra copies, to do statistics on all topics
- Requires no modification to application code to use
Configuration
Set the following environment variables before launching a node to configure topic statistics
- Required:
RMW_IMPLEMENTATION_WRAPPER=rmw_stats_shim -
ROS_TOPIC_STATISTICS_WINDOW_SIZE- how many messages to use in rolling buffer for stats (stores only timestamp information, not contents data)- Default:
50
- Default:
-
ROS_TOPIC_STATISTICS_TOPIC_NAME- name of the topic to publish statistics on- Default:
/topic_statistics
- Default:
-
ROS_TOPIC_STATISTICS_PUBLISH_PERIOD- Interval in seconds at which to periodically publish stats- Default:
1.0
- Default:
Usage
colcon build --packages-select rmw_implementation rmw_stats_shim
source install/setup.bash
export RMW_IMPLEMENTATION_WRAPPER=rmw_stats_shim
# run any ROS 2 node/launch/etc
CHANGELOG
Changelog for package rmw_stats_shim
0.1.1 (2025-04-09)
- Initial package setup
- Contributors: Emerson Knapp
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rosgraph_monitor_msgs | |
| rosidl_runtime_cpp | |
| rosidl_typesupport_cpp |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rmw_stats_shim at Robotics Stack Exchange
|
|
rmw_stats_shim package from graph_monitor repormw_stats_shim rosgraph_monitor rosgraph_monitor_msgs |
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-tooling/graph-monitor.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-09 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Partial RMW shim library to instrument RMW API calls
Additional Links
No additional links.
Maintainers
- Bonsai Robotics Engineering
Authors
No additional authors.
RMW Stats Shim
Depends on a modified version of rmw_implementation to provide topic statistics calculation within the RMW layer of each node, without having to instrument application code.
This component
- Wraps & intercepts some RMW API calls
- Calculates “published period” statistics for every Publisher
- Calculates “received period” statistics for every Subscription
- Calculates “take age” statistics for every Subscription
- This is the different between publish system timestamp and the time at which
rmw_takeis called, so is the sum of network latency plus executor latency
- This is the different between publish system timestamp and the time at which
- Creates a
/topic_statisticsPublisher for every Node and publishes to it periodically about the statistics from within the node
Key points:
- Requires no subscriptions, no extra copies, to do statistics on all topics
- Requires no modification to application code to use
Configuration
Set the following environment variables before launching a node to configure topic statistics
- Required:
RMW_IMPLEMENTATION_WRAPPER=rmw_stats_shim -
ROS_TOPIC_STATISTICS_WINDOW_SIZE- how many messages to use in rolling buffer for stats (stores only timestamp information, not contents data)- Default:
50
- Default:
-
ROS_TOPIC_STATISTICS_TOPIC_NAME- name of the topic to publish statistics on- Default:
/topic_statistics
- Default:
-
ROS_TOPIC_STATISTICS_PUBLISH_PERIOD- Interval in seconds at which to periodically publish stats- Default:
1.0
- Default:
Usage
colcon build --packages-select rmw_implementation rmw_stats_shim
source install/setup.bash
export RMW_IMPLEMENTATION_WRAPPER=rmw_stats_shim
# run any ROS 2 node/launch/etc
CHANGELOG
Changelog for package rmw_stats_shim
0.1.1 (2025-04-09)
- Initial package setup
- Contributors: Emerson Knapp
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rosgraph_monitor_msgs | |
| rosidl_runtime_cpp | |
| rosidl_typesupport_cpp |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rmw_stats_shim at Robotics Stack Exchange
|
|
rmw_stats_shim package from graph_monitor repormw_stats_shim rosgraph_monitor rosgraph_monitor_msgs |
Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-tooling/graph-monitor.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-09 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Partial RMW shim library to instrument RMW API calls
Additional Links
No additional links.
Maintainers
- Bonsai Robotics Engineering
Authors
No additional authors.
RMW Stats Shim
Depends on a modified version of rmw_implementation to provide topic statistics calculation within the RMW layer of each node, without having to instrument application code.
This component
- Wraps & intercepts some RMW API calls
- Calculates “published period” statistics for every Publisher
- Calculates “received period” statistics for every Subscription
- Calculates “take age” statistics for every Subscription
- This is the different between publish system timestamp and the time at which
rmw_takeis called, so is the sum of network latency plus executor latency
- This is the different between publish system timestamp and the time at which
- Creates a
/topic_statisticsPublisher for every Node and publishes to it periodically about the statistics from within the node
Key points:
- Requires no subscriptions, no extra copies, to do statistics on all topics
- Requires no modification to application code to use
Configuration
Set the following environment variables before launching a node to configure topic statistics
- Required:
RMW_IMPLEMENTATION_WRAPPER=rmw_stats_shim -
ROS_TOPIC_STATISTICS_WINDOW_SIZE- how many messages to use in rolling buffer for stats (stores only timestamp information, not contents data)- Default:
50
- Default:
-
ROS_TOPIC_STATISTICS_TOPIC_NAME- name of the topic to publish statistics on- Default:
/topic_statistics
- Default:
-
ROS_TOPIC_STATISTICS_PUBLISH_PERIOD- Interval in seconds at which to periodically publish stats- Default:
1.0
- Default:
Usage
colcon build --packages-select rmw_implementation rmw_stats_shim
source install/setup.bash
export RMW_IMPLEMENTATION_WRAPPER=rmw_stats_shim
# run any ROS 2 node/launch/etc
CHANGELOG
Changelog for package rmw_stats_shim
0.1.1 (2025-04-09)
- Initial package setup
- Contributors: Emerson Knapp
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rosgraph_monitor_msgs | |
| rosidl_runtime_cpp | |
| rosidl_typesupport_cpp |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rmw_stats_shim at Robotics Stack Exchange
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.