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Topic Monitoring

When to use it​

Use topic monitoring when you want the SDK to distinguish transport health from actual data flow. This is what keeps the HORUS dashboard from claiming a robot is healthy just because a topic exists.

Minimal example​

from horus.utils.topic_monitor import get_topic_monitor

monitor = get_topic_monitor()
monitor.track("/tf")
monitor.track("/horus/registration_ack")

Realistic example​

from horus.utils.topic_status import get_topic_status_board

board = get_topic_status_board()
board.on_app_connected(True)
board.on_subscribe("/tf")
board.on_publish_activity("/tf")
board.on_subscribe("/atlas/camera/image_raw/compressed")
board.on_publish_activity("/atlas/camera/image_raw/compressed")

print(board.render_text())

Use this path when validating:

  • app connection versus workspace activation
  • topic link state versus actual publish activity
  • multi-operator presence and replay visibility

Common failure and fix​

  • Failure: dashboard rows look active even when a publisher or app session is missing.
  • Fix: confirm that the monitored topics are the real runtime topics and that app connectivity, ACK state, and publish activity are all being fed into the same board instance.