You have been placed in charge of designing a robust monitoring system for the rovers computation system (Raspberry Pi, Jetson Nano, STM's, etc). You have to monitor the CPU usage and the temperate of your device (Your laptop for now) and if it exceeds above a certain limit you need to shutdown the rover.
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Make a Node which will obtain the current CPU usage as well as the temperature and publish this information on separate topics /CPU and /temp.
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Make another node which will subscribe from this data and based on the below conditions will perform the necessary action
| CPU Usage | Process |
|---|---|
| 0.5 - 0.99 | Output "LOW CPU USAGE" using ROS Warning loggers |
| 1.0 - 1.99 | Output "Normal CPU USAGE" using ROS Info loggers |
| > 2.0 | Output "Critical CPU USAGE" using ROS fatal loggers and shutdown ROS |
| Temperature | Process |
|---|---|
| < 19° | Output "Low Temperature" using ROS Warning loggers |
| 20° - 59° | Output "Normal Temperature" using ROS Info loggers |
| > 60° | Output "Time to buy a new Pi" using ROS fatal loggers and shutdown ROS |
Also create another node called utility which counts all the publishers, subscribers for both the topics and also counts the total number of active nodes.
- https://github.com/ros2/rclpy/blob/humble/rclpy/rclpy/node.py
- https://stackoverflow.com/questions/276052/how-to-get-current-cpu-and-ram-usage-in-python
- https://stackoverflow.com/questions/2440511/getting-cpu-temperature-using-python#comment99168080_2440539
- https://github.com/ros2/rclpy/blob/a7c8631c7af567b01adc15406bd02825b5276642/rclpy/rclpy/impl/rcutils_logger.py
Tip
Click this on the Github page to view all the methods of a class
Create a Node to obtain camera data (the camera should be recording an object of distinct color) using OpenCV and publish it to a topic called image_raw. Another Node should subscribe from that topic and move the turtlesim robot in such a way that it follows the direction of the distinctly colored object.
Example:
trimmed.mp4
On or before Monday.
If you have any questions or trouble figuring stuff out message me on whatsapp
-Naren