Monitor

Note

The Monitor is an internal element of Sugarcoat launch system that is configured automatically for you. The following documentation aims only to explain its internal usage.

Monitor is a ROS2 Node (not Lifecycle) responsible of monitoring the status of the stack (rest of the running nodes) and managing requests/responses from the Orchestrator.

Main Functionalities:

• Creates Subscribers to registered Events. The Monitor is configured to declare an InternalEvent back to the Launcher so the corresponding Action can be executed (see source implementation in launch_actions.py)

Monitoring events

An Event Trigger

• Creates Subscribers to all registered Components health status topics

• Creates clients for all components main services and main action servers

• Creates service clients to components reconfiguration services to handle actions sent from the Launcher