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Monitor CPU - RAM etc over ROS

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Hi, I am using an [ODROID-XU4](http://www.hardkernel.com/main/products/prdt_info.php?g_code=G143452239825) on a quadrotor. On the ODROID is running ROS. To the Odroid is also connected to a camera [flea3 by PointGrey](https://www.ptgrey.com/flea3-32-mp-color-usb3-vision-sony-imx036-camera). I am launching the [pointgrey node](http://wiki.ros.org/pointgrey_camera_driver) to connect to the camera and it is working fine. I am not sure but it seems that when I increase the frequency of acquisition of the camera (from 30 Hz and greater) the quadrotor becomes a bit unstable. It does not happen all the time but sometime. Because I don't know where this behavior is coming from I thought that it could come from the CPU/RAM which are *working too much*. For this reason I was thinking if there is some tool which enables to store a rosbag file which then can be easily plotted to check the allocation of RAM and CPU when the frequency changes. Thanks in advance for your help.

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