ROS jetson-stats

A ROS wrapper jetson-stats to ROS where you can read the status of your board via diagnostic messages.

Installation

1. Check your NVIDIA board have installed jetson-stats otherwise install it

sudo -H pip install -U jetson-stats

2. Clone this repository in your workspace
3. Run catkin_make to locate ros_jetson_stats in your workspace

Setup your launch file

Add in your launch file the ros_jetson_stats package following

<node pkg="ros_jetson_stats" type="jetson_stats.py" name="ros_jetson_stats"/>

Services

You can enable and disable jetson_clocks, set the NV Power Model or change the FAN mode directly from ros service.

• jetson_clocks (ros_jetson_stats/jetson_clocks)
  • status: Boolean value
• nvpmodel (ros_jetson_stats/nvpmodel)
  • nvpmodel: NVP Model name, please refer NVIDIA documentation
• fan (ros_jetson_stats/fan)
  • mode: default, system, manual

Run the demo

Run the demo following this roslaunch file

roslaunch ros_jetson_stats jetson_stats.launch

Watch your NVIDIA Jetson stats from your runtime_monitor

rosrun rqt_runtime_monitor rqt_runtime_monitor

Plottable Jetson Stats

For visualizing a subset of jetson stats using rqt_plot/rqt_multiplot the topic /jetson_stats was added. It contains information on RAM, SWAP, GPU load, as well as temperatures of CPU and GPU.