Add gpu load and temperature

bitbots_misc/system_monitor/system_monitor/gpu.py

@@ -6,7 +6,9 @@ def collect_all():
         return 0
 
     gpu = pyamdgpuinfo.get_gpu(0)
-    vram_size = gpu.VRAM  # change VRAM to the real attribute name
+    vram_size = gpu.memory_info["vram_size"]
     vram_usage = gpu.query_vram_usage()
+    load = gpu.query_load()
+    temperature = gpu.query_temperature()
 
-    return vram_usage / vram_size
+    return (vram_usage / vram_size, load, temperature)

bitbots_misc/system_monitor/system_monitor/monitor.py

@@ -55,7 +55,7 @@ def main():
     while rclpy.ok():
         last_send_time = time.time()
         running_processes, cpu_usages, overall_usage_percentage = cpus.collect_all() if do_cpu else (-1, [], 0)
-        gpu_usage_percentage = gpu.collect_all() if do_gpu else 0
+        gpu_usage_percentage, gpu_load, gpu_temperature = gpu.collect_all() if do_gpu else 0
         memory_available, memory_used, memory_total = memory.collect_all() if do_memory else (-1, -1, -1)
         interfaces = network_interfaces.collect_all(node.get_clock()) if do_network else []
 
@@ -65,6 +65,8 @@ def main():
             running_processes=running_processes,
             cpu_usage_overall=overall_usage_percentage,
             gpu_usage=gpu_usage_percentage,
+            gpu_load=gpu_load,
+            gpu_temperature=gpu_temperature,
             memory_available=memory_available,
             memory_used=memory_used,
             memory_total=memory_total,

bitbots_msgs/msg/Workload.msg

@@ -5,6 +5,8 @@ int32 running_processes
 float32 cpu_usage_overall
 
 float32 gpu_usage
+float32 gpu_load
+float32 gpu_temperature
 
 int64 memory_available
 int64 memory_used