Skip to content

ROS 2 package for monitoring and controlling NVIDIA Jetson Platform resources

License

Notifications You must be signed in to change notification settings

NVIDIA-AI-IOT/ros2_jetson_stats

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

12 Commits
 
 
 
 
 
 
 
 

Repository files navigation

ROS 2 jetson_stats

NVIDIA Developer Blog

ROS2 wrapper for Jetson Stats (jtop)

This repository takes inspiration from ROS-jtop and creates package for ros2 (currently tested on eloquent)

Pre-requisite

ROS2 Eloquent Install Guide

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 : ROS2 Real Time Classification and Detection
  • ros2_deepstream : ROS2 nodes for DeepStream applications
  • ros2_trt_pose : ROS 2 package for "trt_pose": real-time human pose estimation on NVIDIA Jetson Platform

About

ROS 2 package for monitoring and controlling NVIDIA Jetson Platform resources

Topics

Resources

License

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published