feat(system): create a package to monitor component containers

[mebasoglu]

Description

This PR adds a new package autoware_component_monitor under the system. It aims to attach existing component containers and monitor their CPU and memory usages.

Related links

Issue:

• Measuring performance of component containers #7092

Corresponding message type PR:

• feat(system): create system usage message autoware_internal_msgs#12

Tests performed

Logging simulator was used with the sample data on Autoware tutorials. The composable node was attached to pointcloud_container and published the system usage of process. The launch file inside the package was used to attach. Here is a sample topic output:

---
header:
  stamp:
    sec: 1718094543
    nanosec: 106255881
  frame_id: component_monitor
pid: 225916
cpu_usage_percentage: 53.29999923706055
total_memory_bytes: 67104985088
free_memory_bytes: 7425822720
used_memory_bytes: 759532
memory_usage_percentage: 1.2000000476837158

Here is a sample visualization of pointcloud_container with the sample bag on Foxglove:

Notes for reviewers

The CPU monitor inside the system_monitor package uses boost::process to run mpstat command, gets the stdout and parses it to get necessary information.

https://github.com/autowarefoundation/autoware.universe/blob/003ee0c9da3f341aefecb16fc216af8471b5238a/system/system_monitor/src/cpu_monitor/cpu_monitor_base.cpp#L139

The same mechanism was also used in this package. The top package was preferred to get CPU and memory usage.
top -b -d 0.1 -n 1 -p PID outputs the memory usage as below:

top - 15:48:04 up  4:50,  1 user,  load average: 6,59, 4,29, 3,46
Tasks:   1 total,   0 running,   1 sleeping,   0 stopped,   0 zombie
%Cpu(s):  3,8 us,  0,9 sy,  0,0 ni, 94,5 id,  0,4 wa,  0,0 hi,  0,4 si,  0,0 st
MiB Mem :  63996,4 total,   5108,0 free,  40659,5 used,  18228,9 buff/cache
MiB Swap:   2048,0 total,    906,5 free,   1141,5 used.  21457,1 avail Mem

    PID USER      PR  NI    VIRT    RES    SHR S  %CPU  %MEM     TIME+ COMMAND
 573147 meb       20   0   16,6g   2,0g 549812 S   6,7   3,2   0:05.55 component_conta

• %MEM is calculated with the RES field, which is the physical memory usage. These fields are parsed inside the node for memory usage.

• %CPU field is parsed to get CPU usage rate.

• The LC_NUMERIC environment variable determines the output format of floating numbers. In my computer it is LC_NUMERIC=tr_TR.UTF-8 and because of that top uses , as the separator for floating numbers. To ensure that it is always ., this environment variable is overridden.

env["LC_NUMERIC"] = "en_US.UTF-8"; // To make sure that decimal separator is a dot.

---

• A while (rclcpp::ok()) loop was used with a rclcpp::Rate to monitor periodically. The loop is inside a try-catch block so that if the node dies, it won't crash the whole component.

Interface changes

ROS Topic Changes

Topic Name	Type	Direction	Update Description
component_system_usage	autoware_internal_msgs/SystemUsage	Publish	The system usage for component container

A message type was created as follows (autowarefoundation/autoware_internal_msgs#12):

std_msgs/Header header

# Process identifier
uint32 pid

# CPU usage metrics
float32 cpu_usage_percentage

# Memory usage metrics for the whole system
uint64 total_memory_bytes
uint64 free_memory_bytes

# Memory usage metrics for the process
uint64 used_memory_bytes
float32 memory_usage_percentage

It is currently planned to have this message inside autoware_internal_msgs.

ROS Parameter Changes

Currently, there aren't any parameters.

Effects on system behavior

It doesn't affect the system. The node is attached to an existing container and publishes a message if there is a subscriber.

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-7094/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-7094/system/autoware_component_monitor/

[xmfcx]

Could you add a readme file?

[xmfcx]

Thanks, I've tested it with the rosbag replay simulation and loaded with

ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

ros2 component load /pointcloud_container autoware_component_monitor autoware::component_monitor::ComponentMonitor -p publish_rate:=10.0 --node-namespace /pointcloud_container

ros2 topic echo /pointcloud_container/component_monitor/component_system_usage

and it works!