health_metric_collector ROS node collects system metrics and publishes them to
/metrics topic. The
cloudwatch_metrics_collector node is subscribed to this topic and will publish the metrics to AWS CloudWatch when it is instantiated.
Keywords: ROS, AWS, CloudWatch, Metrics
The source code is released under an Apache 2.0.
Supported ROS Distributions
You will need to create an AWS Account and configure the credentials to be able to communicate with AWS services. You may find AWS Configuration and Credential Files helpful. Specifying AWS credentials by setting environment variables is not supported.
This node will require the following AWS account IAM role permissions:
Building from Source
Create a ROS workspace and a source directory
mkdir -p ~/ros-workspace/src
To build from source, clone the latest version from master branch and compile the package
Clone the package into the source directory
cd ~/ros-workspace/src git clone https://github.com/aws-robotics/utils-common.git git clone https://github.com/aws-robotics/utils-ros1.git git clone https://github.com/aws-robotics/monitoringmessages-ros1.git git clone https://github.com/aws-robotics/health-metrics-collector-ros1.git
cd ~/ros-workspace && sudo apt-get update rosdep install --from-paths src --ignore-src -r -y
Build the packages
cd ~/ros-workspace && colcon build
Configure ROS library Path
Build and run the unit tests
colcon build --packages-select health_metric_collector --cmake-target tests colcon test --packages-select health_metric_collector && colcon test-result --all
An example launch file called
sample_application.launch is included in this project that gives an example of how you can include this node in your project together with the
Run the node
With launch file:
roslaunch health_metric_collector sample_application.launch
Without launch file using default values
rosrun health_metric_collector health_metric_collector
Running the sample application
To launch the sample application for the metrics node you can run the following command:
roslaunch health_metric_collector sample_application.launch --screen
Configuration file and Parameters
health_metric_collector node receives an interval parameter that indicates the frequency in which it should sample metrics. e.g. interval=5 indicates sampling every five seconds. The default value is 5.
Supported Metrics Types
- Free RAM (in MB)
- Total RAM (in MB)
- Total cpu usage (percentage)
- Per core cpu usage (percentage)
- Uptime (in sec)
- Number of processes
Performance and Benchmark Results
We evaluated the performance of this node by runnning the followning scenario on a Raspberry Pi 3 Model B:
- Launch a baseline graph containing the talker and listener nodes from the roscpp_tutorials package, plus two additional nodes that collect CPU and memory usage statistics. Allow the nodes to run 60 seconds.
- Launch the
health_metric_collectorROS node using the launch file
sample_application.launchas described above. That launch file also starts a
cloudwatch_metrics_collectornode, that forwards to the Amazon CloudWatch Metrics service each of the metric messages the
health_metric_collectorROS node is publishing to the
- Allow the nodes to run for 180 seconds.
- Terminate the
cloudwatch_metrics_collectornodes, and allow the remaining nodes to run for 60 seconds.
The following graph shows the CPU usage during that scenario. After launching the nodes with
sample_application.launch, the 1 minute average CPU usage increases from around 7% to a peak of 15%, and stabilizes around 6%, until the nodes are stopped around second 266.
The following graph shows the memory usage during that scenario. We start with a memory usage of 225 MB for the baseline graph, that increases to 251 MB (+11.56%) when
sample_application.launch is launched. Memory usage keeps stable until we stop the nodes, and after tthat it goes back to 225 MB.
Bugs & Feature Requests
Please contact the team directly if you would like to request a feature.
Please report bugs in Issue Tracker.