graphite_to_mcap

Simple system staticistics collection utility, which accepts data in Graphite format (<name> <value> <timestamp>) and logs it to MCAP files.

• Input data:

  • Graphite format https://graphite.readthedocs.io/en/latest/feeding-carbon.html#the-plaintext-protocol is supported by many utilities, e.g., https://graphite.readthedocs.io/en/latest/tools.html, but this tool is mainly intended to work with collectd https://collectd.org/.
  • Disable recommended packages when installing collectd in Ubuntu: otherwise it pulls too much junk, including Java.
  • collectd reports CPU usage in microseconds, percentage can be obtained by dividing the value by sampling interval and multiplying by 100. See collectd/collectd#1633 and collectd/collectd#2862.

• Output data:

  • MCAP https://mcap.dev/ is handy for storing and analysing data, e.g., with PlotJuggler https://plotjuggler.io/.
  • Data is wrapped in plotjuggler_msgs, but all corresponding dependencies are compiled in and there are no build or runtime dependencies on ROS.