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

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

Terminal controls

While a launch is running, the status bar shows each process and its state. Select a process with its displayed key (a-z, A-Z, or 0-9), then press:

Global controls are available without selecting a process:

Node search matches substrings against full names, including namespaces. Type / to start searching, use Tab or the arrow keys to select a match, and press Enter to open its node actions. Press Escape to cancel the search.

Namespace mode groups processes by their top-level ROS namespace, including nodes in child namespaces. Each namespace displays [alive:dead] process counts. Its background is green when all processes are alive, yellow when only some are alive, and red when all are dead.

Select a namespace with its displayed key, then press:

File truncated at 100 lines see the full file