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xbot2_diagnostics

Diagnostics and observability for HHCM's xbot2 framework.

Lightweight diagnostics aggregator

A Python aggregator is available under /aggregator.

Features

  • ZMQ PULL fan-in on configurable endpoint (tcp://localhost:9268 default)
  • Per-node state cache
  • Stale detection (level=3) with configurable timeout/check interval
  • JSON schema validation for incoming diagnostics messages
  • Pluggable sinks:
    • InfluxDB v2 export (optional)
    • ROS /diagnostics subscriber and /diagnostics_agg publisher (optional)
    • JSONL file logger (optional, rolling)
    • Stdout pretty printer (optional)

Message schema (v=1)

{
  "v": 1,
  "node": "controller/joint_impedance",
  "hw_id": "arm_left",
  "stamp": 1717500000.123,
  "level": 0,
  "msg": "OK",
  "values": [
    {"key": "torque_error.mean", "value": 0.0031},
    {"key": "torque_error.std", "value": 0.0008}
  ]
}

Configuration

Pass with --config or XBOT2_DIAGNOSTICS_CONFIG.

aggregator:
  zmq_endpoint: "tcp://localhost:9268"
  stale_timeout_sec: 5.0
  stale_check_interval_sec: 1.0

sinks:
  influxdb:
    enabled: false
    url: "http://localhost:8086"
    token: "${INFLUXDB_TOKEN}"
    org: "xbot2"
    bucket: "diagnostics"

  ros_diagnostics:
    enabled: false
    input_topic: "/diagnostics"
    aggregated_topic: "/diagnostics_agg"
    publish_aggregated: true
    aggregation_root: "Robot"

  json_file:
    enabled: false
    path: "/tmp/diagnostics.jsonl"
    max_file_size_mb: 100

  stdout:
    enabled: false
    interval_sec: 10.0

Run

python -m pyxbot2_diagnostics.aggregator.aggregator_node --config /path/to/config.yaml

Local host monitor

xbot2-host-monitor collects Linux CPU, memory, temperature, filesystem, disk I/O, network, uptime, and optional battery/NVIDIA GPU metrics. It publishes independent host/<hostname>/... diagnostics to the same ZMQ aggregator without requiring ROS. The Python implementation supports Python 3.8 and newer. By default, temperature telemetry contains only the minimum, average, and maximum across recognized CPU sensors; individual, disk, and other temperatures are omitted. When /proc/xenomai/sched/stat is available, the monitor also publishes each non-IRQ Xenomai scheduler entry with its mode-switch count and CPU load.

xbot2-host-monitor --config config/host_monitor.yaml
# A single best-effort sample for smoke testing:
xbot2-host-monitor --config config/host_monitor.yaml --once

The endpoint precedence is --endpoint, host_monitor.zmq_endpoint, XBOT_DIAG_ENDPOINT, then tcp://localhost:9268. The config file itself can be selected with --config or XBOT2_HOST_MONITOR_CONFIG. Metric thresholds, collectors, interface filters, and required interfaces are documented in config/host_monitor.yaml.

For boot-time operation, install the project and enable the supplied unit:

sudo systemctl enable --now xbot2-host-monitor.service

Site-specific XBOT2_HOST_MONITOR_CONFIG or XBOT_DIAG_ENDPOINT values can be placed in /etc/default/xbot2-host-monitor.

Local Grafana and InfluxDB

A local Docker Compose stack is provided for visualizing aggregated ROS diagnostics with Grafana. Docker runs only InfluxDB and Grafana; ROS nodes run on the host so they can join the ROS graph normally. The host ROS environment must provide the diagnostic_remote_logging package.

  1. Create a local environment file:
cp docker/.env.example docker/.env
  1. Start InfluxDB and Grafana:
docker compose --env-file docker/.env -f docker/docker-compose.diagnostics.yml up -d
  1. Start the diagnostics aggregator, which subscribes to /diagnostics and publishes /diagnostics_agg:
ros2 launch launch/xbot2_diagnostics_aggregator.launch.py
  1. Start diagnostic_remote_logging, remapped so it writes /diagnostics_agg to InfluxDB:
source docker/.env
ros2 launch launch/diagnostic_remote_logging.launch.py

Grafana is available at http://localhost:3000 and InfluxDB at http://localhost:8086. The default development credentials are documented in docker/.env.example; use local secrets for anything beyond development.