Add dstat supervisor job for Fetch

jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh

@@ -15,6 +15,9 @@ for file in $(ls ./*.conf); do
     echo "copied $file to /etc/supervisor/conf.d"
 done
 
+# Enable jsk_dstat job to save the csv log under /var/log
+ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv
+
 # copy config.bash to /var/lib/robo if not exists
 if [ ! -e /var/lib/robot/config.bash ]; then
     sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash

jsk_fetch_robot/jsk_fetch_startup/scripts/dstat.bash

@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+# Keep only the last 1000 lines of csv log before executing dstat
+CSV_FILE=/home/fetch/Documents/jsk_dstat.csv
+
+if [ -e $CSV_FILE ]; then
+    cp -f $CSV_FILE $CSV_FILE.bk
+    tail -n 1000 $CSV_FILE.bk > $CSV_FILE
+    rm -f $CSV_FILE.bk
+else
+    touch $CSV_FILE
+fi
+
+dstat -tl --cpufreq -c -C all --top-cpu-adv -dgimnprsTy --output $CSV_FILE

jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf

@@ -0,0 +1,11 @@
+; Install dstat
+; sudo apt install dstat
+[program:jsk-dstat]
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup dstat.bash"
+stopsignal=TERM
+autostart=true
+autorestart=false
+stdout_logfile=/var/log/ros/jsk-dstat.log
+stderr_logfile=/var/log/ros/jsk-dstat.log
+user=root
+priority=1