https://github.com/nvidia-ai-iot/ros2_jetson_stats
ROS 2 package for monitoring and controlling NVIDIA Jetson Platform resources
https://github.com/nvidia-ai-iot/ros2_jetson_stats
eloquent jetson robotics ros2
Last synced: 3 months ago
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ROS 2 package for monitoring and controlling NVIDIA Jetson Platform resources
- Host: GitHub
- URL: https://github.com/nvidia-ai-iot/ros2_jetson_stats
- Owner: NVIDIA-AI-IOT
- License: mit
- Created: 2020-11-11T19:37:02.000Z (almost 5 years ago)
- Default Branch: humble
- Last Pushed: 2024-01-08T11:10:25.000Z (over 1 year ago)
- Last Synced: 2024-05-14T00:14:43.031Z (over 1 year ago)
- Topics: eloquent, jetson, robotics, ros2
- Language: Python
- Homepage:
- Size: 39.1 KB
- Stars: 55
- Watchers: 7
- Forks: 12
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE.md
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README
# ROS 2 jetson_stats
[NVIDIA Developer Blog](https://developer.nvidia.com/blog/implementing-robotics-applications-with-ros-2-and-ai-on-jetson-platform-2/)
## ROS2 wrapper for Jetson Stats (jtop)
This repository takes inspiration from [ROS-jtop](https://github.com/rbonghi/ros_jetson_stats) and creates package for ros2 (currently tested on eloquent)
## Pre-requisite
ROS2 Eloquent [Install Guide](https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-Development-Setup/)
## Set up
1. Install Jetson Stats:
```sudo -H pip install -U jetson-stats```
2. Clone repo in ros2 workspace
``` cd dev_ws/src```
``` git clone https://github.com/NVIDIA-AI-IOT/ros2_jetson_stats.git```
3. Build
``` sudo rosdep install --from-paths ros2_jtop --ignore-src --rosdistro eloquent -y ```
``` colcon build ```
``` . install/setup.bash ```
### Usage
The basic usage consists of creating `diagnostics_msgs` and services for control fan mode/speed, setting up `jetson_clocks`, and power mode.
1. Run JTOP node:
``` ros2 run ros2_jetson_stats ros2_jtop ```
If you want to change frequency of JTOP messages, do following:
``` ros2 run ros2_jetson_stats ros2_jtop --ros-args -p interval:=0.2```
*Note: JTOP frequency is from 0 - 1 range*
2. You can see diagnostic messages using following command:
``` sudo . install/setup.bash ```
``` sudo . install/local_setup.bash ```
``` ros2 run rqt_topic rqt_topic ```
*Note: for default interval you will see message frequency ~2Hz if you change interval to 0.2 the message frequency will change to 6Hz*
3. To run JTOP services:
You will need to keep running ```ros2_jetson_stats``` ; as shown in step 1.
A. Change Power Model:
Open new terminal
``` sudo . install/local_setup.bash ```
```ros2 service call /jtop/nvpmodel jtop_services/srv/NVPModel "{nvpmodel: 0}"```
This will change power mode to ``` 15 W 2 Core ``` on Jetson Xavier NX
Following Message will appear on the terminal:
```
requester: making request: jtop_services.srv.NVPModel_Request(nvpmodel=2)
response:
jtop_services.srv.NVPModel_Response(power_mode='MODE_15W_2CORE')
```
B. Change Fan mode and Fan Speed:
Open new terminal
``` sudo . install/local_setup.bash ```
```ros2 service call /jtop/fan jtop_services/srv/Fan "{mode: system, speed: 100}"```
This will change fan speed to 100; you can see Jetson Fan being turned on.
```
requester: making request: jtop_services.srv.Fan_Request(mode='system', speed=100)
response:
jtop_services.srv.Fan_Response(set_fan_mode='system', set_fan_speed=100)
```
C. Start Jetson Clocks:
Open new terminal
``` sudo . install/local_setup.bash ```
``` ros2 service call /jtop/jetson_clocks jtop_services/srv/JetsonClocks "{status: True}"```
## Other related ROS 2 projects
- [ros2_torch_trt](https://github.com/NVIDIA-AI-IOT/ros2_torch_trt) : ROS2 Real Time Classification and Detection
- [ros2_deepstream](https://github.com/NVIDIA-AI-IOT/ros2_deepstream) : ROS2 nodes for DeepStream applications
- [ros2_trt_pose](https://github.com/NVIDIA-AI-IOT/ros2_trt_pose) : ROS 2 package for "trt_pose": real-time human pose estimation on NVIDIA Jetson Platform