==============
|package_name|
==============
:ir_github:`<isaac_ros_jetson> <isaac_ros_jetson_stats>`
Quickstart
----------
Set Up Development Environment
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. include:: /_snippets/set_up_dev_env.rst
Build |package_name|
~~~~~~~~~~~~~~~~~~~~
1. Install ``jtop`` on the host machine:
.. code:: bash
sudo pip3 install -U jetson-stats
.. tabs::
.. tab:: Binary Package
2. Launch the Docker container using the ``run_dev.sh`` script:
.. code:: bash
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh
3. Install the prebuilt Debian package:
:ir_apt:
.. code:: bash
sudo apt-get install -y ros-humble-isaac-ros-jetson-stats
.. tab:: Build from Source
2. Clone this repository under ``${ISAAC_ROS_WS}/src``:
.. code:: bash
cd ${ISAAC_ROS_WS}/src && \
git clone :ir_clone:`<isaac_ros_jetson>`
3. Launch the Docker container using the ``run_dev.sh`` script:
.. code:: bash
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh
4. Use ``rosdep`` to install the package's dependencies:
:ir_apt:
.. code:: bash
sudo pip3 install -U jetson-stats && \
rosdep update && rosdep install --from-paths ${ISAAC_ROS_WS}/src/isaac_ros_jetson/isaac_ros_jetson_stats --ignore-src -y
5. Build the package from source:
.. code:: bash
cd ${ISAAC_ROS_WS}/ && \
colcon build --symlink-install --packages-up-to isaac_ros_jetson_stats --base-paths ${ISAAC_ROS_WS}/src/isaac_ros_jetson/isaac_ros_jetson_stats
6. Source the ROS workspace:
.. note::
Make sure to repeat this step in **every** terminal created inside the Docker container.
Because this package was built from source, the enclosing workspace must be sourced for ROS to be able to find the package's contents.
.. code:: bash
source install/setup.bash
Run Launch File
~~~~~~~~~~~~~~~
1. Run the following launch files to spin up a demo of this package:
.. code:: bash
ros2 launch isaac_ros_jetson_stats jtop.launch.py
Visualize Results
~~~~~~~~~~~~~~~~~
1. Open a **new** terminal inside the Docker container:
.. code:: bash
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh
Check that the ``rqt`` robot monitor plugin is installed.
.. code:: bash
sudo apt-get install ros-humble-rqt-robot-monitor
Open robot monitor.
.. code:: bash
rqt
2. Open ``rqt`` view
From menu open the Diagnostics Viewer Plugins -> Robots Tools -> Diagnostics Viewer
.. figure:: :ir_lfs:`<resources/isaac_ros_docs/repositories_and_packages/isaac_ros_jetson/rqt_diagnostic_viewer.png>`
:width: 600px
:align: center
3. Select the checkbox "Alternative View"
.. figure:: :ir_lfs:`<resources/isaac_ros_docs/repositories_and_packages/isaac_ros_jetson/diagnostic_viewer_alternative_view.png>`
:width: 600px
:align: center
4. Verify that ``rqt`` starts displaying the diagnostic status of the Jetson:
.. figure:: :ir_lfs:`<resources/isaac_ros_docs/repositories_and_packages/isaac_ros_jetson/isaac_ros_jetson_diagnostics.png>`
:width: 600px
:align: center
Control your Jetson
-------------------
You can control your Jetson using the following services:
* ``jtop/fan``: Change the fan speed configuration.
* ``jtop/nvpmodel``: Change the NVPmodel of your board.
* ``jtop/jetson_clocks``: Enable or disable Jetson Clocks.
Change the Fan Speed Configuration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
An example to change the fan speed configuration:
.. code:: bash
ros2 service call /jtop/fan isaac_ros_jetson_stats_services/srv/Fan "{'profile':quiet ,'speed':100}"
This command will change the fan speed configuration to 100% and the profile to quiet. You can change the profile to quiet, cool, or manual.
These profile can change depending on JetPack version and Jetson model. You can check the available profiles from the documentation reference.
Change the NVPmodel of your board
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
An example to change the NVPmodel of your board:
.. code:: bash
ros2 service call /jtop/nvpmodel isaac_ros_jetson_stats_services/srv/NVPModel "{'nvpmodel':0 }"
This command will change NVPmodel on your board. To check the available NVPmodel, you can check the documentation reference.
.. note::
Not all NVPmodel are available on all Jetson models. You can check the available NVPmodel from the NVIDIA Jetson documentation reference.
.. note::
Not all NVPmodel can be set without a reboot. If it fails you need to change manually on your board.
Change the Jetson Clocks
~~~~~~~~~~~~~~~~~~~~~~~~
An example to enable Jetson Clocks:
.. code:: bash
ros2 service call /jtop/jetson_clocks isaac_ros_jetson_stats_services/srv/JetsonClocks "{'status':true}"
This command enables Jetson Clocks. You can disable Jetson Clocks by changing the value to false.
Troubleshooting
---------------
``jtop`` Not Working
~~~~~~~~~~~~~~~~~~~~
Symptoms
^^^^^^^^
The ``jtop`` node fails to start.
Solution
^^^^^^^^
Exit the Docker container and install ``jetson-stats`` on your host:
.. code:: bash
sudo pip3 install -U jetson-stats
Mismatch version ``jtop`` service and client
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Please update your ``jtop`` package on your host and reboot the Isaac ROS container.
.. code:: bash
sudo pip3 install -U jetson-stats
You may need to reboot the host.
Diagnostics Viewer doesn't appear
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
If the Diagnostics Viewer doesn't appear when you are running ``rqt``:
.. code:: bash
rm ~/.config/ros.org/rqt_gui.ini
This command will refresh ``rqt``, updating the list of all plugins available.
API
----
Launch ``jtop`` Diagnostic Monitor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. code:: bash
ros2 launch isaac_ros_jetson_stats jtop.launch.py
ROS Parameters
~~~~~~~~~~~~~~
============================ ========== ============= ===========================================================================================================================================================================================
ROS Parameter Type Default Description
============================ ========== ============= ===========================================================================================================================================================================================
``interval`` ``double`` ``0.5`` When you initialize ``jtop`` you can setup a communication speed interval; if there is another ``jtop`` running, this speed will be not used.
============================ ========== ============= ===========================================================================================================================================================================================
ROS Topics Published
~~~~~~~~~~~~~~~~~~~~
===================== ============================================================================================================================================= =================================
ROS Topic Interface Description
===================== ============================================================================================================================================= =================================
``diagnostics`` `diagnostic_msgs/DiagnosticArray <https://github.com/ros2/common_interfaces/blob/humble/diagnostic_msgs/msg/DiagnosticArray.msg>`__ Diagnostic message.
===================== ============================================================================================================================================= =================================
ROS Services Advertised
~~~~~~~~~~~~~~~~~~~~~~~
================================= ================================================================================================================================================================================ ============================================================
ROS Service Interface Description
================================= ================================================================================================================================================================================ ============================================================
``jtop/fan`` :ir_repo:`isaac_ros_jetson_stats_interfaces/Fan <isaac_ros_jetson> <isaac_ros_jetson_stats_services/srv/Fan.srv>` A service change the fan speed configuration.
``jtop/nvpmodel`` :ir_repo:`isaac_ros_jetson_stats_interfaces/NVPModel <isaac_ros_jetson> <isaac_ros_jetson_stats_services/srv/NVPModel.srv>` A service to change the NVPmodel of your board.
``jtop/jetson_clocks`` :ir_repo:`isaac_ros_jetson_stats_interfaces/JetsonClocks <isaac_ros_jetson> <isaac_ros_jetson_stats_services/srv/JetsonClocks.srv>` A service to enable or disable Jetson Clocks
================================= ================================================================================================================================================================================ ============================================================
.. |package_name| replace:: ``isaac_ros_jetson_stats``