rosmon is a drop-in replacement for the standard roslaunch tool. Rather
unlike roslaunch, rosmon is focussed on (remote) process monitoring.
- Modern console UI with colored indicators for each node. With one glance you can see that everything is still running as it should.
- Debugger integration:
- Automatic coredump collection for dying processes
- Launch
gdbagainst your running process or post-mortem against the collected coredump
rosmonintercepts allstdout/stderrfrom your nodes and tags it with a timestamp and the node name. No more wondering which of your nodes the mysterious warning came from.
rosmon includes a simple keyboard user interface: Each node has an assigned
key. If you press that key, you get a menu in the status line which allows you
to start, stop, or debug a coredump of that very node.
rosmon offers a simple but effective ROS interface to start, stop or restart
nodes and monitor node states. Restarting a single stuck node out of the launch
file is no longer a problem. An rqt plugin for controlling rosmon is
included.
That said, rosmon is very much work-in-progress right now.
WARNING: rosmon is not yet roslaunch compliant. For example, the
$(find PACKAGE) substitution performs a simple search using rospack and
always returns the path to the package in the source tree. roslaunch may
choose to return the corresponding devel or install path if the file is found
there. Other inconsistencies and unsupported features may exist. Use at your
own risk.
rosmon disables the "Yama" ptrace() protection from its child processes, so
that the user can attach with gdb without needing root privileges.
This may be seen as a security risk.
Simple include this repository in your catkin workspace. After a build
(tested with catkin_tools) and re-sourcing of the devel/setup.bash you will
have the mon command in your environment.
mon supports the same argument style as roslaunch (either
mon launch path/to/file.launch or mon launch package file.launch).
rosmon is licensed under BSD-3.
Max Schwarz [email protected]