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