ros2top 0.1.1

A real-time process monitor with support for ROS2 nodes, showing CPU, RAM, and GPU usage

ROS2Top

A real-time monitor for ROS2 nodes showing CPU, RAM, and GPU usage - like htop but for ROS2 nodes.

Features

• 🔍 Real-time monitoring of all ROS2 nodes
• 💻 CPU usage tracking per node
• 🧠 RAM usage monitoring
• 🎮 GPU usage tracking (NVIDIA GPUs via NVML)
• 🖥️ Terminal-based interface using curses
• 🔄 Auto-refresh with configurable intervals
• 🏷️ Process tree awareness (includes child processes)
• 🧵 Background tracing on separate thread for responsive UI
• 📝 Node registration API for reliable node-to-monitor communication

Installation

From PyPI (when published)

pip install ros2top

From Source

git clone https://github.com/AhmedARadwan/ros2top.git
cd ros2top
pip install -e .

Requirements

• Python 3.8+
• NVIDIA drivers (for GPU monitoring)

Python Dependencies

• psutil>=5.8.0
• pynvml>=11.0.0

CPP Dependencies

• nlohmann json installed from source.

Usage

Examples

• Python Example: Complete ROS2 Python node with ros2top integration
• C++ Example: Complete ROS2 C++ package with ros2top integration

Basic Usage

# Run ros2top
ros2top

Command Line Options

ros2top --help                # Show help
ros2top --refresh 2          # Refresh every 2 seconds (default: 5)
ros2top --no-gpu            # Disable GPU monitoring
ros2top --version           # Show version

Interactive Controls

The enhanced terminal UI provides responsive and interactive controls:

Key	Action
q or Q	Quit application
h or H	Show help dialog
r or R	Force refresh node list
p or P	Pause/resume monitoring
+ or =	Increase refresh rate
-	Decrease refresh rate
↑ / ↓	Navigate through nodes
Tab	Cycle focus between UI panels
Space	Force immediate update
Home/End	Jump to first/last node

Enhanced Terminal UI

The ros2top interface now features a responsive, adaptive design that automatically adjusts to your terminal size:

Responsive Layout

• Small terminals (< 80 cols): Essential info only
• Medium terminals (80-120 cols): Full monitoring with detailed CPU
• Large terminals (> 120 cols): Extended view with additional columns

Visual Features

• Color-coded usage bars: Green (low), Yellow (medium), Red (high)
• Real-time progress bars for CPU, memory, and GPU
• Interactive navigation with keyboard shortcuts
• Adaptive refresh rates for optimal performance

System Overview Panel

The top panel shows real-time system information:

• CPU usage (per-core or summary based on terminal size)
• Memory usage with progress bar
• GPU utilization and memory (if available)
• ROS2 status and active node count

Display Columns

Column	Description
Node	ROS2 node name
PID	Process ID
%CPU	CPU usage percentage (normalized by core count)
RAM(MB)	RAM usage in megabytes
GPU#	GPU device number (if using GPU)
GPU%	GPU utilization percentage
GMEM	GPU memory usage in MB

Examples

Monitor nodes with 2-second refresh

ros2top --refresh 2

Run without GPU monitoring

ros2top --no-gpu

How It Works

1. Node Registartion: Every node registers its name and PID at startup with ros2top.
2. Resource Monitoring: Uses psutil for CPU/RAM and pynvml for GPU metrics.
3. Display: Curses-based terminal interface for real-time updates.

Troubleshooting

No GPU monitoring

• Install NVIDIA drivers
• Install pynvml: pip install pynvml
• Use --no-gpu flag to disable GPU monitoring

Nodes not showing up

• Verify nodes are running: ros2 node list
• Check node info: ros2 node info /your_node
• Some nodes might not have detectable PIDs

Development

Setup Development Environment

git clone https://github.com/AhmedARadwan/ros2top.git
cd ros2top
pip install -e .
pip install -r requirements.txt

Running Tests

python -m pytest tests/

Code Style

black ros2top/
flake8 ros2top/
mypy ros2top/

Architecture

ros2top/
├── ros2top/
│   ├── main.py          # CLI entry point
│   ├── node_monitor.py  # Core monitoring logic
│   ├── gpu_monitor.py   # GPU monitoring
│   ├── terminal_ui.py   # Curses interface
│   ├── node_registry.py # Node registration system
│   └── ros2_utils.py    # Simplified ROS2 utilities
├── setup.py             # Package setup
└── README.md           # This file

Contributing

1. Fork the repository
2. Create a feature branch
3. Make your changes
4. Add tests
5. Submit a pull request

License

MIT License - see LICENSE file for details.

Changelog

v0.1.0

• Initial release
• Basic node monitoring with CPU, RAM, GPU usage
• Terminal interface with curses
• Command line options
• ROS2 node discovery and process mapping

Similar Tools

• htop - System process monitor
• nvtop - GPU process monitor
• ros2 node list - Basic ROS2 node listing

Acknowledgments

• Inspired by htop and nvtop
• Built for the ROS2 community
• Uses psutil for system monitoring and pynvml for GPU monitoring

Node Registration API

For the most reliable monitoring, ROS2 nodes can register themselves with ros2top. This is especially useful for:

• Multiple nodes running in the same Python process
• Complex applications where automatic detection might miss some nodes
• Getting additional metadata about nodes

Basic Registration

import ros2top

# Register your node (call this once when your node starts)
ros2top.register_node('/my_node_name')

# Send periodic heartbeats (optional, but recommended)
ros2top.heartbeat('/my_node_name')

# Unregister when shutting down (optional, automatic cleanup on process exit)
ros2top.unregister_node('/my_node_name')

Advanced Registration with Metadata

import ros2top

# Register with additional information
ros2top.register_node('/camera_processor', {
    'description': 'Processes camera feed for object detection',
    'type': 'vision_processor',
    'input_topics': ['/camera/image_raw'],
    'output_topics': ['/detected_objects'],
    'framerate': 30
})

# In your main loop, send heartbeats every few seconds
ros2top.heartbeat('/camera_processor')

Example: Multiple Nodes in One Process

import ros2top
import time

def main():
    # Register multiple nodes running in this process
    ros2top.register_node('/human_tracker', {'type': 'detector'})
    ros2top.register_node('/video_publisher', {'type': 'publisher'})

    try:
        while True:
            # Your processing logic here
            do_object_detection()

            # Send heartbeats every 5 seconds
            ros2top.heartbeat('/human_tracker')
            ros2top.heartbeat('/video_publisher')

            time.sleep(5)

    finally:
        # Cleanup (optional - happens automatically on exit)
        ros2top.unregister_node('/human_tracker')
        ros2top.unregister_node('/video_publisher')

Benefits of Registration

• Guaranteed detection: Registered nodes will always be detected by ros2top
• Immediate visibility: No waiting for tracing or process scanning
• Rich metadata: Include custom information about your nodes
• Multi-process support: Perfect for complex applications
• Heartbeat monitoring: Detect unresponsive nodes even if process is running

Node Detection

ros2top uses a node registration system for reliable node detection:

Primary Method: Node Registration API

The most reliable way is for ROS2 nodes to explicitly register themselves:

import ros2top

# Register your node
ros2top.register_node('/my_node', {'description': 'My awesome node'})

# Send periodic heartbeats (recommended)
ros2top.heartbeat('/my_node')

# Unregister when shutting down (optional - automatic cleanup on exit)
ros2top.unregister_node('/my_node')

Automatic Cleanup

• Nodes are automatically unregistered when the process exits
• Stale registrations are cleaned up periodically
• Registry is stored in ~/.ros2top/registry/

Benefits of Registration API

• Reliable: No dependency on tracing or process matching
• Fast: Instant node detection without scanning
• Accurate: Direct PID mapping from the registering process
• Simple: Works with any ROS2 node type (Python, C++, etc.)