health_metric_collector
Note: this repository is under active development. The package provided here is a release candidate; the API may change without notice and no support is provided for it at the moment.
Overview
This health_metric_collector
ROS node collects system metrics and publishes them to /metrics
topic. The cloudwatch_metrics_collector
node is subscribed to this topic and will publish the metrics to AWS CloudWatch when it is instantiated.
Keywords: ROS, AWS, CloudWatch, Metrics
License
The source code is released under an Apache 2.0.
Author: AWS RoboMaker
Affiliation: Amazon Web Services (AWS)
Maintainer: AWS RoboMaker, ros-contributions@amazon.com
Supported ROS Distributions
- Dashing
Build status
Installation
AWS Credentials
You will need to create an AWS Account and configure the credentials to be able to communicate with AWS services. You may find AWS Configuration and Credential Files helpful. Specifying AWS credentials by setting environment variables is not supported.
This node will require the following AWS account IAM role permissions:
cloudwatch:PutMetricData
Binaries
On Ubuntu you can install the latest version of this package using the following command
sudo apt-get update
sudo apt-get install -y ros-$ROS_DISTRO-health-metric-collector
Building from Source
To build from source you'll need to create a new workspace, clone and checkout the latest release branch of this repository, install all the dependencies, and compile. If you need the latest development features you can clone from the master
branch instead of the latest release branch. While we guarantee the release branches are stable, the master
should be considered to have an unstable build due to ongoing development.
-
Create a ROS workspace and a source directory
mkdir -p ~/ros-workspace/src
-
Clone the package into the source directory .
cd ~/ros-workspace/src git clone https://github.com/aws-robotics/health-metrics-collector-ros2.git -b release-latest
-
Install dependencies
cd ~/ros-workspace sudo apt-get update && rosdep update rosdep install --from-paths src --ignore-src -r -y
Note: If building the master branch instead of a release branch you may need to also checkout and build the master branches of the packages this package depends on.
-
Build the packages
cd ~/ros-workspace && colcon build
-
Configure ROS library Path
source ~/ros-workspace/install/setup.bash
-
Build and run the unit tests
colcon build --packages-select health_metric_collector --cmake-target tests colcon test --packages-select health_metric_collector && colcon test-result --all
Launch Files
An example launch file called sample_application.launch
is included in this project that gives an example of how you can include this node in your project together with the cloudwatch_metrics_collector
node.
Usage
Run the node
-
With launch file:
- ROS:
roslaunch health_metric_collector sample_application.launch
- ROS:
-
Without launch file using default values
- ROS:
rosrun health_metric_collector health_metric_collector
- ROS:
Running the sample application
To launch the sample application for the metrics node you can run the following command:
roslaunch health_metric_collector sample_application.launch --screen
Configuration file and Parameters
The health_metric_collector
node receives an interval parameter that indicates the frequency in which it should sample metrics. e.g. interval=5 indicates sampling every five seconds. The default value is 5.
Supported Metrics Types
- Free RAM (in MB)
- Total RAM (in MB)
- Total cpu usage (percentage)
- Per core cpu usage (percentage)
- Uptime (in sec)
- Number of processes
Performance and Benchmark Results
We evaluated the performance of this node by runnning the followning scenario on a Raspberry Pi 3 Model B:
- Launch a baseline graph containing the talker and listener nodes from the roscpp_tutorials package, plus two additional nodes that collect CPU and memory usage statistics. Allow the nodes to run 60 seconds.
- Launch the
health_metric_collector
ROS node using the launch filesample_application.launch
as described above. That launch file also starts acloudwatch_metrics_collector
node, that forwards to the Amazon CloudWatch Metrics service each of the metric messages thehealth_metric_collector
ROS node is publishing to the/metrics
topic. - Allow the nodes to run for 180 seconds.
- Terminate the
health_metric_collector
andcloudwatch_metrics_collector
nodes, and allow the remaining nodes to run for 60 seconds.
The following graph shows the CPU usage during that scenario. After launching the nodes with sample_application.launch
, the 1 minute average CPU usage increases from around 7% to a peak of 15%, and stabilizes around 6%, until the nodes are stopped around second 266.
The following graph shows the memory usage during that scenario. We start with a memory usage of 225 MB for the baseline graph, that increases to 251 MB (+11.56%) when sample_application.launch
is launched. Memory usage keeps stable until we stop the nodes, and after tthat it goes back to 225 MB.
Node
health_metric_collector
Published Topics
/metrics
Subscribed Topics
None
Services
None
Bugs & Feature Requests
Please contact the team directly if you would like to request a feature.
Please report bugs in Issue Tracker.