feat(system): create system usage message

[mebasoglu]

Description

This PR creates system usage message.

Related links

It will be used in:

• feat(system): create a package to monitor component containers autoware.universe#7094

Tests performed

Tested on logging simulator with the sample data from Autoware tutorials.

Notes for reviewers

Should be merged with:

• feat(system): create a package to monitor component containers autoware.universe#7094

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

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[xmfcx]

Current message:
SystemUsage.msg

std_msgs/Header header
uint32 pid
float32 cpu_usage_rate
float32 mem_usage_rate
uint64 mem_usage_kib

Let's name it ResourceUsageReport.msg

std_msgs/Header header

# Process identifier
uint32 pid

# CPU usage metrics
float32 cpu_usage_percentage  # CPU cores being utilized (e.g., 1.5 cores would be 150)

# Memory usage metrics
uint64 total_memory_bytes
uint64 used_memory_bytes
uint64 free_memory_bytes
float32 memory_usage_percentage

# Disk I/O metrics (rates in bytes per second)
float32 disk_read_bytes_per_sec
float32 disk_write_bytes_per_sec

# Network usage metrics (rates in bytes per second)
float32 network_receive_bytes_per_sec
float32 network_transmit_bytes_per_sec

Could you add these additional metrics too?

Most Autoware nodes don't need much disk usage but could be used for rosbag writing composable nodes maybe.

Network usage will definitely be useful, many times it even poses a bottleneck for the entire system.

And explicitly reporting total, used, free memory stats is useful, the listening side can decide how to use them.

Also changed the rate to percentage to express it more clearly.

Also prompted chatgpt a bit and I think the final one prompt could be a good start on gathering the remaining stats: https://chatgpt.com/share/16c1aca9-7d12-49eb-85c7-07d2b1e9a5b9

[xmfcx]

Maybe following: https://kubernetes.io/docs/concepts/configuration/manage-resources-containers/#resource-units-in-kubernetes

We could name the cpu one to:
float32 cpu_cores_utilized # e.g. 1.5 physical CPU cores