System Health Node (#18)

* created pkg

* removed cpu processes

* modified variable

* style

* readme and node name

* readme

* pkg name

* copyright

* changed structure pkg and xml version

* changed structure

* .py

* src folder

* added cores temp to system health

* added per cpu frequency

* updated readme

* style

sr_system_health/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(sr_system_health)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+rospy
+message_generation
+std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  SystemHealth.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+ LIBRARIES sr_system_health
+ CATKIN_DEPENDS
+  std_msgs
+  message_runtime
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/sr_system_health.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/sr_system_health_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+install(PROGRAMS
+  src/sr_system_health/system_health.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_sr_system_health.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

sr_system_health/README.md

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+# sr_system_health
+
+This package contains a node to monitor important variables of the system such as:
+* Overall CPU usage
+* Usage of every CPU
+* CPU frequency
+* Frequency of every CPU
+* Temperature of every core
+* RAM usage
+* Disk usage (partition)
+
+The sampling period is defined by the sampling_period ros paramter

sr_system_health/msg/SystemHealth.msg

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+time stamp
+
+float64 cpu_usage
+float64[] percpu_usage
+float64 cpu_frequency
+float64[] percpu_frequency
+float64[] percore_temp
+float64 ram_usage
+float64 disk_usage

sr_system_health/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>sr_system_health</name>
+  <version>0.0.1</version>
+  <description>The sr_system_health package</description>
+  <maintainer email="software@shadowrobot.com">Shadow Robot's software team</maintainer>
+  <author email="jesus@shadowrobot.com">Jesus Ferrandiz</author>
+  <license>LGPLv3</license>
+  <url type="repository">https://github.com/shadow-robot/sr_utils</url>
+  <url type="bugtracker">https://github.com/shadow-robot/sr_utils/issues</url>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>python3-rospkg</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>python3-rospkg</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>python3-rospkg</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+</package>

sr_system_health/setup.py

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+# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from setuptools import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=['sr_system_health'],
+    package_dir={'': 'src'},
+)
+
+setup(**setup_args)

sr_system_health/src/sr_system_health/system_health.py

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+#!/usr/bin/env python3
+
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This program is free software: you can redistribute it and/or modify it
+# under the terms of the GNU General Public License as published by the Free
+# Software Foundation version 2 of the License.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+# more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program. If not, see <http://www.gnu.org/licenses/>.
+
+import psutil
+
+import rospy
+
+from sr_system_health.msg import SystemHealth
+
+
+class SystemHealthCheck:
+
+    def __init__(self):
+
+        self._sampling_period = rospy.get_param("~sampling_period", 1)
+
+        self._timer = rospy.Timer(rospy.Duration(self._sampling_period), self._timer_cb)
+        self._publisher = rospy.Publisher("/system_health", SystemHealth, queue_size=10)
+
+    def _timer_cb(self, event):
+
+        msg = SystemHealth()
+
+        msg.stamp = rospy.Time().now()
+        msg.cpu_usage = psutil.cpu_percent()
+        msg.percpu_usage = psutil.cpu_percent(percpu=True)
+
+        msg.cpu_frequency = psutil.cpu_freq().current
+
+        cpu_frequencies = psutil.cpu_freq(percpu=True)
+        cpu_freq_list = []
+        for cpu_freq in cpu_frequencies:
+            cpu_freq_list.append(cpu_freq.current)
+        msg.percpu_frequency = cpu_freq_list
+
+        core_temps = psutil.sensors_temperatures()["coretemp"]
+        core_temp_list = []
+        for core_temp in core_temps:
+            core_temp_list.append(core_temp.current)
+        msg.percore_temp = core_temp_list
+
+        msg.ram_usage = psutil.virtual_memory().percent
+        msg.disk_usage = psutil.disk_usage('/').percent
+
+        self._publisher.publish(msg)
+
+
+if __name__ == "__main__":
+    rospy.init_node('system_health_node')
+    system_health_check = SystemHealthCheck()
+    rospy.spin()