Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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

Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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

Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
kilted

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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

Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
rolling

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 ardent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 bouncy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 crystal showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 eloquent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 dashing showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 galactic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 foxy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 iron showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 lunar showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 jade showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 indigo showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 hydro showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 kinetic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 melodic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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 showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

rmw_stats_shim package from graph_monitor repo

rmw_stats_shim rosgraph_monitor rosgraph_monitor_msgs

ROS Distro
humble

Package Summary

Tags No category tags.
Version 0.1.2
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 2025-07-17
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Partial RMW shim library to instrument RMW API calls

Additional Links

No additional links.

Maintainers

  • Emerson Knapp

Authors

  • Emerson Knapp on behalf of Bonsai Robotics

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_take is called, so is the sum of network latency plus executor latency
  • Creates a /topic_statistics Publisher 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
  • ROS_TOPIC_STATISTICS_TOPIC_NAME - name of the topic to publish statistics on
    • Default: /topic_statistics
  • ROS_TOPIC_STATISTICS_PUBLISH_PERIOD - Interval in seconds at which to periodically publish stats
    • Default: 1.0

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

0.1.2 (2025-05-12)

0.1.1 (2025-04-09)

  • Initial package setup
  • Contributors: Emerson Knapp

Dependant Packages

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