iwatake2222/ros2_monitor_grafana

Monitor ROS 2 topic status and provide a nice dashboard in Grafana

ROS 2 Monitor with Grafana

About

• Monitor ROS 2 topic rate
• Store topic rate into InfluxDB
• Display dashboard in Grafana for the created database
• Sample: https://snapshots.raintank.io/dashboard/snapshot/wAcs2K0k7w2R03w9T3BYUsSB5qqVcdSq

How to use

1. Install requirements

pip3 install influxdb_client

• You also need ROS 2

2. Prepare InfluxDB

• Create your InfluxDB Cloud 2.0 account (You can use your Google account)
  • Find your URL (Host Name) and Organization ID in Organization -> Settings, and generate a new Token in API Tokens
• Or, run a local Docker container as described below

3. Prepare Grafana

• Create your Grafana account (You can use your Google account)
• Or, run a local Docker container as described below

4. Run your ROS 2 application

• You can use my sample application
  • python3 src/sample_ros_app.py

5. Run ROS 2 Monitor with Grafana

# Parameters for InfluxDB Cloud 2.0 (example)
token=o3gajXfkeJ8PwOD9QJ5aO6R2WJkk9jn0PqUWak_5ECWrzoJ456WWSxLqibQUhN-89MH9TznPkflVGaMXnFlFxw==
org=yourname@gmail.com
url=https://us-east-1-1.aws.cloud2.influxdata.com
bucket_name=my-bucket

# Parameters for local docker container
token=my-super-secret-auth-token
org=my-org
url=http://localhost:8086
bucket_name=my-bucket

# Start monitoring ROS 2 topics and uploading data
python3 src/main.py --token=$token --org=$org --url=$url --bucket_name=$bucket_name

• Please adjust arguments such as token, org, etc. for your account

6. Setup Grafana

• Login to Grafana
  • Cloud: https://yourname.grafana.net/
  • Docker: http://localhost:3000 (admin, admin)
• Configure datasource
  • Configuration -> Data sources -> Add data source
  • Select InfluxDB, and process the following settings, then click Save & Test
    • Default: checked
    • Query Language: Flux
    • URL: http://localhost:8086
    • (User: my-user)
    • (Password: my-password)
    • Organization: my-org
    • Token: my-super-secret-auth-token
    • Default Bucket: my-bucket
    • (Please replace arguments such as url, token, etc. for your account)
• Configure dashboards
  • Dashboards -> Browse -> New -> Import
  • Upload JSON file
    • Select ./dashboard/topic_monitor.json
    • Click Import

(optional) Docker containers

InfluxDB

mkdir temp && cd temp
mkdir ./influxdb
mkdir ./influxdb/config
mkdir ./influxdb/data

docker run --rm -d \
  --net host \
  -v $PWD/influxdb/data:/var/lib/influxdb2 \
  -v $PWD/influxdb/config:/etc/influxdb2 \
  -e DOCKER_INFLUXDB_INIT_MODE=setup \
  -e DOCKER_INFLUXDB_INIT_USERNAME=my-user \
  -e DOCKER_INFLUXDB_INIT_PASSWORD=my-password \
  -e DOCKER_INFLUXDB_INIT_ORG=my-org \
  -e DOCKER_INFLUXDB_INIT_BUCKET=my-bucket \
  -e DOCKER_INFLUXDB_INIT_RETENTION=1w \
  -e DOCKER_INFLUXDB_INIT_ADMIN_TOKEN=my-super-secret-auth-token \
  influxdb:2.4.0

• Access http://localhost:8086/signin to explorer your database

  • Username: my-user
  • Password: my-password

• Query to explorer data

from(bucket: "my-bucket")
  |> range(start: 0, stop: 1d)
  |> filter(fn: (r) => r["_measurement"] == "ros2_topic")
  |> filter(fn: (r) => r["_field"] == "topic_rate_hz")
//   |> filter(fn: (r) => r["topic_name"] == "/topic_1000_ms")

Grafana

mkdir ./grafana

docker run --rm -d \
  --net host \
  --user `id -u` \
  -v $PWD/grafana:/var/lib/grafana \
  grafana/grafana

• Access http://localhost:3000/ to show your dashboards
  • Username: admin
  • Password: admin

ROS 2

docker run -it --rm \
  --net host \
  -v $PWD:/work \
  -v /etc/localtime:/etc/localtime:ro \
  osrf/ros:humble-desktop bash

Notice

• ./src/hz.py is retrieved from https://raw.githubusercontent.com/ros2/ros2cli/humble/ros2topic/ros2topic/verb/hz.py and modified.