Only released in EOL distros:   electric fuerte groovy

Overview

The runtime_monitor package allows robot operators to view raw diagnostics data for a robot. Using the diagnostics toolchain, the Runtime Monitor will display the raw data on the /diagnostics topic, of type diagnostic_msgs/DiagnosticArray.

For robots with a diagnostic_aggregator, users should use the robot_monitor for viewing diagnostics. The runtime_monitor is only useful for simple systems, or for users who need the raw data.

Viewing Diagnostics

To start the runtime_monitor, point to the ROS Master for your robot, e.g.

export ROS_MASTER_URI=http://my_robot:11311

In the same terminal, type:

rosrun runtime_monitor monitor

For the complete tutorial, see Starting the Runtime Monitor

Rxbag Plugin

New in ROS C-Turtle

The runtime_monitor can view messages of type diagnostic_msgs/DiagnosticArray as an rxbag plugin. This features is experimental.

Embedding a Monitor Panel in WX Application

The MonitorPanel class of the runtime_monitor can be embedded in a WX application. To embed the monitor inside a WX notebook panel:

   1 from runtime_monitor.monitor_panel import MonitorPanel
   2 
   3 ###
   4 # ... code above ...
   5 ###
   6   def create_monitor(self):
   7     self._monitor_panel = MonitorPanel(self._notebook)
   8 
   9     # Set size to make it pretty
  10     self._monitor_panel.SetSize(wx.Size(400, 500))
  11     # Notebook is wxNotebook
  12     self._notebook.AddPage(self._monitor_panel, "Diagnostics")
  13 
  14   def on_change_topic(self, new_topic):
  15     """
  16     Must be of type diagnostic_msgs/DiagnosticArray
  17     """
  18     self._monitor_panel.change_diagnostic_topic(new_topic)
  19 
  20   def on_reset(self):
  21     self._monitor_panel.reset_monitor()
  22  
  23   def close(self):
  24     """
  25     Safely unregister from diagnostics topic
  26     """
  27     self._monitor_panel.shutdown()

Only the above functions are supported when embedded into a WX application.

ROS API

monitor

Subscribed Topics

• Raw diagnostics data from robot