## repository: https://code.ros.org/svn/ros-pkg
<<PackageHeader(runtime_monitor)>>

{{{#!wiki solid/yellow
Deprecated: `runtime_monitor` is superseded by [[rqt_runtime_monitor]].
}}}

== Overview ==

The `runtime_monitor` package allows robot operators to view raw diagnostics data for a robot. Using the [[diagnostics]] toolchain, the Runtime Monitor will display the raw data on the `/diagnostics` topic, of type <<MsgLink(diagnostic_msgs/DiagnosticArray)>>. 

For robots with a [[diagnostic_aggregator]], users should use the [[robot_monitor]] for viewing diagnostics. The `runtime_monitor` is only useful for simple systems, or for users who need the raw data.

{{attachment:runtime_monitor.png}}

== Viewing Diagnostics ==

To start the `runtime_monitor`, point to the ROS [[Master]] for your robot, e.g.
{{{
export ROS_MASTER_URI=http://my_robot:11311
}}}

In the same terminal, type:
{{{
rosrun runtime_monitor monitor
}}}

For the complete tutorial, see [[diagnostics/Tutorials/Starting the Runtime Monitor|Starting the Runtime Monitor]]

=== Rxbag Plugin ===

<<Version(ROS C-Turtle)>>

The `runtime_monitor` can view messages of type <<MsgLink(diagnostic_msgs/DiagnosticArray)>> as an [[rxbag]] plugin. This features is experimental.

== Embedding a Monitor Panel in WX Application ==

The `MonitorPanel` class of the `runtime_monitor` can be embedded in a WX application. To embed the monitor inside a WX notebook panel:

{{{
#!python block=embed
from runtime_monitor.monitor_panel import MonitorPanel

###
# ... code above ...
###
  def create_monitor(self):
    self._monitor_panel = MonitorPanel(self._notebook)

    # Set size to make it pretty
    self._monitor_panel.SetSize(wx.Size(400, 500))
    # Notebook is wxNotebook
    self._notebook.AddPage(self._monitor_panel, "Diagnostics")

  def on_change_topic(self, new_topic):
    """
    Must be of type diagnostic_msgs/DiagnosticArray
    """
    self._monitor_panel.change_diagnostic_topic(new_topic)

  def on_reset(self):
    self._monitor_panel.reset_monitor()
 
  def close(self):
    """
    Safely unregister from diagnostics topic
    """
    self._monitor_panel.shutdown()
}}}

Only the above functions are supported when embedded into a WX application.

== ROS API ==

{{{
#!clearsilver CS/NodeAPI
name = monitor
desc = Displays diagnostics in GUI
sub {
  0.name = /diagnostics
  0.type = diagnostic_msgs/DiagnosticArray
  0.desc = Raw diagnostics data from robot
}
}}}

## CategoryPackage
## CategoryPackageROSPKG