Topic monitor

[tfoote]

Setup

• Rmw: Cyclone
• BuildType: Binary
• Os: Windows
• Chip: Amd64

Links

• Reference URL

Checks

• Comparing reliability QoS settings

  details

  Try

  1. You will need two machines with ROS 2: one mobile and one stationary.

  2. # User input in terminal 1
     ros2 run topic_monitor topic_monitor --display

  3. Run the ros2 launch topic_monitor reliability_demo_launch.py executable on the stationary machine. This will start two nodes: one publishing in “reliable” mode, and one in “best effort”.

     # User input in terminal 1
     ros2 launch topic_monitor reliability_demo_launch.py

  4. Start the monitor on a mobile machine such as a laptop. Use ros2 run topic_monitor topic_monitor --display --allowed-latency 5 to account for any latency that may occur re-sending the reliable messages.

     # User input in terminal 1
     ros2 run topic_monitor topic_monitor --display --allowed-latency 5

  5. Take the mobile machine out of range of the monitor, and observe how the reception rates differ for the different topics.

  Expect

  1. You should see that the "reliable" topic has a reception rate that is almost always either 0 or 100%, while the "best effort" topic has a reception rate that fluctuates based on the strength of the connection.

     

---

You can find the code used to generate this test case here

[seekbot]

Interested @ahcorde

[mjcarroll]

@seekbot any update?

[seekbot]

Hi @mjcarroll ,

Here are video demos showcasing step i to v working:

• Stationary (Windows 11 Laptop): https://youtu.be/uuzLLtXKbcA
• Mobile (Windows 10 Laptop): https://youtu.be/DZRDSDrl8Vc
• Step v: https://youtu.be/faasW9usw1g

One thing to note was that the binary does not have 'matplotlib' package installed, so I had to run 'pip install matplotlib' to get the graph. If not installed, this is the error it gives:

Traceback (most recent call last):
  File "C:\pixi_ws\ros2-windows\Lib\site-packages\topic_monitor\scripts\topic_monitor.py", line 395, in main
    import matplotlib.pyplot as plt
ModuleNotFoundError: No module named 'matplotlib'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "\?\C:\pixi_ws\ros2-windows\Lib\topic_monitor\topic_monitor-script.py", line 33, in <module>
    sys.exit(load_entry_point('topic-monitor==0.36.0', 'console_scripts', 'topic_monitor')())
             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\pixi_ws\ros2-windows\Lib\site-packages\topic_monitor\scripts\topic_monitor.py", line 397, in main
    raise RuntimeError('The --display option requires matplotlib to be installed')
RuntimeError: The --display option requires matplotlib to be installed
[ros2run]: Process exited with failure 1

[izzaaaatanishq]

@mjcarroll
Stationary Machine

Mobile Machine

ERROR: While plotting the plots, the matplotlib window doesn't respond (Even nothing gets printed)