Health Monitoring

Aggregates diagnostics data from devices, synchronizes them with the cloud, and aggregates them for easy monitoring. On the robot the capability collects diagnostics from the ROS /diagnostics topic as well as some hard-coded OS level metrics (ping timings, CPU temperature, GPU temperature (NVIDIA only), and available disk space).

Works with both ROS 1 and ROS 2, even simulatenously if desired.

Built into the capability itself, i.e., not requiring you to publish to /diagnostics, is a simple ping-monitor. It pings one of our servers 30 times a minute and reports aggregate results for each minute:

• percentage of successful pings
• min/avg/max ping timings

The capability stores historic values in ClickHouse, shows them as in-line spark-lines in the UI and allows you to download them as JSON.

Clicking the sparkline plot opens it in Grafana.

• ros-DISTRO-diagnostic-msgs for the ROS distro you use
• iputils-ping for the ping monitor to work
• lm-sensors for temperate sensors to work