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Prajakta Gokhale
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Add new messages for topic statistics (#98)
* Add new msgs for topic statistics Signed-off-by: Prajakta Gokhale <[email protected]> * Change float32 to float64 to avoid build WARNINGs Signed-off-by: Prajakta Gokhale <[email protected]> * Update package.xml Signed-off-by: Prajakta Gokhale <[email protected]>
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‎statistics_msgs/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(statistics_msgs)
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# Find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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# Generate added messages with dependencies listed here
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/MetricsMessage.msg"
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"msg/StatisticDataPoint.msg"
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"msg/StatisticDataType.msg"
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DEPENDENCIES builtin_interfaces
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)
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ament_export_dependencies(rosidl_default_runtime)
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ament_package()

‎statistics_msgs/README.md‎

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# metrics_statistics_msgs
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Package containing ROS 2 message definitions for reporting
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statistics for topics and system resources.
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## Messages defined in this package
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1. StatisticDataType
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A message that represent the types of statistics reported.
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This defines the following data types that can be used to represent
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individual metric data points.
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* `average`
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* `minimum`
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* `maximum`
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* `stddev`
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* `sample_count`
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1. StatisticDataPoint
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A message that represents a single statistic value.
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This includes:
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* `data_type`: Type of the metric data point, as defined in `StatisticDataType`.
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* `data`: Value of the metric data point.
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1. MetricsMessage
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A message that represents statistic data measured from a source
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within a time window.
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This includes:
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* `measurement_source_name`: Source from where the measurement or statistic originates.
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* `metrics_source`: Name of the metric.
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* `unit`: Unit representing the metric.
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* `window_start`: Start time of the metric measurement window.
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* `window_stop`: End time of the metric measurement window.
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* `statistics`: A list of `StatisticDataPoint` representing the values
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of collected metrics.

‎statistics_msgs/msg/MetricsMessage.msg‎

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#############################################
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# A generic metrics message providing statistics for measurements from different sources. For example,
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# measure a system's CPU % for a given window yields the following data points over a window of time:
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#
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# - average cpu %
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# - std deviation
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# - min
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# - max
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# - sample count
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#
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# These are all represented as different 'StatisticDataPoint's.
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#############################################
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# Name metric measurement source, e.g., node, topic, or process name
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string measurement_source_name
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# Name of the metric being measured, e.g. cpu_percentage, free_memory_mb, message_age, etc.
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string metrics_source
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# Unit of measure of the metric, e.g. percent, mb, seconds, etc.
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string unit
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# Measurement window start time
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builtin_interfaces/Time window_start
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# Measurement window end time
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builtin_interfaces/Time window_stop
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# A list of statistics data point, defined in StatisticDataPoint.msg
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StatisticDataPoint[] statistics

‎statistics_msgs/msg/StatisticDataPoint.msg‎

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#############################################
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# This holds the structure of a single data point of a StatisticDataType.
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#
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# This message is used in MetricsStatisticsMessage, defined in MetricsStatisticsMessage.msg.
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#
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# Examples of the value of data point are
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# - average size of messages received
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# - standard deviation of the period of messages published
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# - maximum age of messages published
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#
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# A value of nan represents no data is available.
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# One example is that standard deviation is only available when there are two or more data points but there is only one,
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# and in this case the value would be nan.
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# +inf and -inf are not allowed.
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#
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#############################################
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# The statistic type of this data point, defined in StatisticDataType.msg
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# Default value should be StatisticDataType.STATISTICS_DATA_TYPE_UNINITIALIZED (0).
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uint8 data_type
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# The value of the data point
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float64 data

‎statistics_msgs/msg/StatisticDataType.msg‎

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#############################################
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# This file contains the commonly used constants for the statistics data type.
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#
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# The value 0 is reserved for unitialized statistic message data type.
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# Range of values: [0, 255].
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# Unallowed values: any value that is not specified in this file.
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#
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#############################################
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# Constant for uninitialized
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uint8 STATISTICS_DATA_TYPE_UNINITIALIZED = 0
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# Allowed values
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uint8 STATISTICS_DATA_TYPE_AVERAGE = 1
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uint8 STATISTICS_DATA_TYPE_MINIMUM = 2
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uint8 STATISTICS_DATA_TYPE_MAXIMUM = 3
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uint8 STATISTICS_DATA_TYPE_STDDEV = 4
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uint8 STATISTICS_DATA_TYPE_SAMPLE_COUNT = 5

‎statistics_msgs/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>statistics_msgs</name>
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<version>0.8.0</version>
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<description>Message definitions for reporting statistics for topics and system resources.</description>
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<maintainer email="[email protected]">ROS Tooling Working Group</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<build_depend>builtin_interfaces</build_depend>
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<build_export_depend>builtin_interfaces</build_export_depend>
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<exec_depend>builtin_interfaces</exec_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<test_depend>ament_lint_common</test_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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