The packages in this repository implement application-level health monitoring for a ROS 2 connected graph of nodes.
The components were originally presented at ROSCon 2024 in "ROS robot health monitoring, the Bonsai approach": https://vimeo.com/1024971769
See each package's README for more detailed information:
- rosgraph_monitor - Component to monitor the ROS graph and publish resulting diagnostics
- rosgraph_monitor_msgs - Messages for reporting graph monitoring information, namely topic statistics
- rmw_stats_shim - RMW wrapper to efficiently gather and report topic statistics for all nodes