rosmon2

rosmon2 is a rosmon-style launcher and terminal process monitor for ROS 2. It runs launch files through the native ROS 2 launch engine, so existing Python, XML, and YAML launch files keep their normal arguments, substitutions, and includes.

rosmon2 is inspired by xqms/rosmon, but is an independent ROS 2 implementation and does not require ROS 1.

Screenshot

Installation and quick start

Install with pip

rosmon2 uses the ROS 2 Python launch APIs, so install ROS 2 first and source the selected distribution before running it. A pip installation installs rosmon2; it does not install ROS 2 itself.

Published releases can be installed from PyPI:

source /opt/ros/${ROS_DISTRO}/setup.bash
python3 -m pip install rosmon2

Until the first PyPI release is published, install the current main branch directly from GitHub:

source /opt/ros/${ROS_DISTRO}/setup.bash
python3 -m pip install \
  'git+https://github.com/GibsonHu/rosmon2.git@main'

When using a virtual environment, expose both the system ROS packages and the virtual environment’s ament resource index:

python3 -m venv --system-site-packages ~/.venvs/rosmon2
source ~/.venvs/rosmon2/bin/activate
source /opt/ros/${ROS_DISTRO}/setup.bash
export AMENT_PREFIX_PATH="$VIRTUAL_ENV${AMENT_PREFIX_PATH:+:$AMENT_PREFIX_PATH}"
python -m pip install rosmon2

Then launch the included demo:

mon2 launch rosmon2 demo.launch.py

Install in a ROS workspace

Add this repository to a ROS 2 workspace, install its dependencies, and build it with colcon:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/GibsonHu/rosmon2.git

cd ~/ros2_ws
source /opt/ros/${ROS_DISTRO}/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --packages-select rosmon2
source install/setup.bash

Then launch the included talker/listener demo:

mon2 launch rosmon2 demo.launch.py

Launch arguments use the standard ROS 2 name:=value syntax:

mon2 launch rosmon2 demo.launch.py namespace:=demo

You can launch a file by package and filename, as above, or by path:

mon2 launch path/to/system.launch.py use_sim_time:=true

The rosmon2 executable is an alias for mon2, so this is equivalent:

rosmon2 launch rosmon2 demo.launch.py

Publishing a PyPI release

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