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Package Summary

Node launcher and monitor for ROS. rosmon is a replacement for the roslaunch tool, focused on performance, remote monitoring, and usability.

  • Maintainer status: maintained
  • Maintainer: Max Schwarz <max.schwarz AT uni-bonn DOT de>
  • Author: Max Schwarz <max.schwarz AT uni-bonn DOT de>
  • License: BSD
  • Source: git https://github.com/xqms/rosmon.git (branch: master)

Package Summary

Node launcher and monitor for ROS. rosmon is a replacement for the roslaunch tool, focused on performance, remote monitoring, and usability.

  • Maintainer status: maintained
  • Maintainer: Max Schwarz <max.schwarz AT uni-bonn DOT de>
  • Author: Max Schwarz <max.schwarz AT uni-bonn DOT de>
  • License: BSD
  • Source: git https://github.com/xqms/rosmon.git (branch: master)

Package Summary

Node launcher and monitor for ROS. rosmon is a replacement for the roslaunch tool, focused on performance, remote monitoring, and usability.

  • Maintainer status: maintained
  • Maintainer: Max Schwarz <max.schwarz AT uni-bonn DOT de>
  • Author: Max Schwarz <max.schwarz AT uni-bonn DOT de>
  • License: BSD
  • Source: git https://github.com/xqms/rosmon.git (branch: master)

screenshot.png

Why rosmon?

rosmon is a drop-in replacement for the venerable roslaunch tool. It offers some interesting features both for monitoring and debugging:

Differences to roslaunch

The roslaunch/XML specification is complex and a bit vague, so you can expect some differences. Bug reports are welcome! Known differences include:

For additional information and rosmon extensions not supported by roslaunch see rosmon/XML.

rosmon was developed for the DARPA Robotics Challenge, which influenced our decision to develop it in a statically typed language (C++) for more runtime robustness. However, this meant that roslaunch XML parsing code could not be used.

Installation

Binary packages are available:

sudo apt install ros-${ROS_DISTRO}-rosmon

source /opt/ros/${ROS_DISTRO}/setup.bash # Needed to use the 'mon launch' shortcut

Usage

When installed, rosmon drops a handy shell wrapper into your shell context (currently supported in bash and zsh). You may have to re-source your workspace environment after building. Usage (similar to roslaunch):

mon launch <package> <launch file> [arguments]

or

mon launch <path to launch file> [arguments]

Full usage information:

Usage:
  rosmon [actions] [options] some_package test.launch [arg1:=value1 ...]
  rosmon [actions] [options] path/to/test.launch [arg1:=value1 ...]

Actions (default is to launch the launch file):
  --benchmark    Exit after loading the launch file
  --list-args    List launch file arguments

Options:
  --disable-ui   Disable fancy terminal UI
  --help         This help screen
  --log=FILE     Write log file to FILE
  --name=NAME    Use NAME as ROS node name. By default, an anonymous
                 name is chosen.

rosmon also obeys some environment variables:
  ROSMON_COLOR_MODE   Can be set to 'truecolor', '256colors', 'ansi'
                      to force a specific color mode
                      If unset, rosmon tries to detect the best
                      available color mode.

Console interface

rosmon features a basic console interface. Each node is assigned a dedicated key, which can be used to open the action menu for that node. Available actions are:

GUI interface

rosmon can also be controlled remotely using an rqt plugin, which uses rosmon's ROS interface. The context menu offers starting and stopping control. Additionally collected statistics (CPU and memory usage) are displayed.

Nodes

rosmon

Main rosmon node.

Published Topics

~state (rosmon/State)

Services

~start_stop (rosmon/StartStop)


2019-06-22 13:08