RCP - ROS Compute Performance Nodes

This is a ros-wrapper for psutil to provide visibility compute system resources utilization systemwide and for individual processes.

Note: Currently only supporting Linux

Installation

cd <your/workspace>/src/

git clone https://github.com/gchustz/rcp (or git clone [email protected]:gchustz/rcp for ssh)

pip3 install psutil==5.9.5 *Note: Current ros1 / Ubuntu 20.04 build psutil is broken.

Optional pip3 install pynvml=11.5.0

cd <your/workspace/>

catkin_make

Usage

System Performance

Statistics, usage, and counters for:

• CPU
• Memory
• Swap
• Disks
• Network Interfaces
• Temperature Sensors

roslaunch rcp system_perf.launch

Which starts topic /system

The above are sourced from psutil.

Process Monitoring

Per process:

• CPU utilization
• Memory
• I/O
• etc.

roslaunch rcp processes.launch

Which starts topic /system/processes

NVIDIA GPU Monitoring

Utilization for:

• Gpu processor
• Gpu Memory
• Encoder
• Decoder

Along with other values such as temperature, powerdraw, and per-process information

roslaunch rcp nvidia_gpu.launch

Which starts topic /system/nvidia_gpu

All of the above

roslaunch rcp all.launch

Future Plans

• Incorporate NVIDIA GPU statistics
• Incorporate deeper NVIDIA GPU statistics (i.e. memory temperatures)
• Add temperature sensors from psutil
• Move Configuration values out to launch file arguments / config files
• Refactor and move the backend into a separate github
• Build ROS2 implementation