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Merged
MJohnson459 merged 1 commit into from
Aug 12, 2026
Merged

node_cpu: document an invocation that runs #99

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2 changes: 1 addition & 1 deletion docs/tuning/2026-08-11-monitor-cpu.md
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Expand Up @@ -10,7 +10,7 @@ to what the callback does can touch.

Raw sampler output is in `2026-08-11-monitor-cpu/`; every figure below is a
`mean` from one of those JSON files and can be re-derived with
`mote_bringup/tools/node_cpu.py --summary <csv>`.
`pixi run node-cpu --summary <csv>`.

## How it was measured

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2 changes: 1 addition & 1 deletion docs/tuning/2026-08-11-monitor-cpu/runs.txt
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Expand Up @@ -6,7 +6,7 @@ node per sample plus load1; <tag>.json is its summary (mean/median/p95/max).

Re-summarize any of them without a robot:

python -m mote_bringup.tools.node_cpu --summary <tag>.csv
pixi run node-cpu --summary <tag>.csv

before-idle.csv 60 s. Stack as found: the drive servos were not
answering, so /joint_states was 1.6 Hz and /tf 33 Hz.
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4 changes: 2 additions & 2 deletions mote_bringup/tools/node_cpu.py
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Expand Up @@ -6,7 +6,7 @@
compute. Answering that needs a figure per node, before and after a change, on
the same workload:

python -m mote_bringup.tools.node_cpu --duration 60 --tag idle \
pixi run node-cpu --duration 60 --tag idle \
--out docs/tuning/2026-08-11-monitor-cpu/before

CPU comes from ``/proc/<pid>/stat`` as a delta of utime+stime over the interval,
Expand All @@ -31,7 +31,7 @@

ros2 run mote_bringup health_monitor --ros-args -r __node:=health_monitor_b \
-r diagnostics_agg:=diagnostics_agg_b -r health:=health_b
python -m mote_bringup.tools.node_cpu --nodes health_monitor,health_monitor_b
pixi run node-cpu --nodes health_monitor,health_monitor_b

Load average is recorded beside each sample: a percentage of a core means little
without knowing how contended the machine was when it was measured.
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