Description
Rostune is a tool that helps ROS developers distribute their nodes in the most effective way. It collects statistics for topics and nodes, such as CPU and network usage.
How To Use rostune
- Run rostune on all of your machines.
- Edit the
config/parameters.yamlfile based on your needs. - Using a ROS visualization tool like rqt_plot and (the even better) PlotJuggler, you can visualize the statistics you are interested in.
- Move nodes to different machines, and observe which setup is the most effective, based on the statistics provided.
PlotJuggler specific setup
In order for PlotJuggler to work as intended, you have to follow some simple steps:
- Run PlotJuggler.
- Navigate to Streaming -> Start: ROS Topic Streamer.
- In the popup dialog, tick on both tickboxes, and then click on the "Edit Rules" button.
- Open the provided
plotjuggler.rules.xmlfile and paste its contents just before the</SubstitutionRules>tag in the second dialog that popped up when you clicked on "Edit Rules". - Select "Confirm and Close".
- Select the rostune topic(s) that you want to suscribe to, and you are ready to go!