From 457073ec0bffdfc2e42432df8ce7ee280ff219c6 Mon Sep 17 00:00:00 2001
From: Misheel Bayartsengel <misheel.bayart@gmail.com>
Date: Tue, 19 Nov 2024 14:26:45 -0500
Subject: [PATCH] fix segfault (#2468)

---
 engineering_tools/monitor-ros-cpu.py | 24 +++++++++---------------
 1 file changed, 9 insertions(+), 15 deletions(-)

diff --git a/engineering_tools/monitor-ros-cpu.py b/engineering_tools/monitor-ros-cpu.py
index 89f32e745d..daf8b4cb53 100644
--- a/engineering_tools/monitor-ros-cpu.py
+++ b/engineering_tools/monitor-ros-cpu.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-
 import psutil
 import subprocess
 import time
@@ -8,7 +7,6 @@
 import argparse
 from datetime import datetime
 
-
 def parse_args():
     parser = argparse.ArgumentParser(description="Monitor CPU usage of ROS2 nodes")
     parser.add_argument(
@@ -19,17 +17,13 @@ def parse_args():
     )
     return parser.parse_args()
 
-
 def setup_logging_directory(output_dir):
     if not os.path.exists(output_dir):
         os.makedirs(output_dir)
-
     timestamp = datetime.now().strftime("%Y_%m_%d-%H_%M_%S")
     filename = f"cpu_usage_ros2_nodes_{timestamp}.csv"
-
     return os.path.join(output_dir, filename)
 
-
 def main():
     args = parse_args()
     output_file = setup_logging_directory(args.output_dir)
@@ -57,14 +51,16 @@ def main():
                 ["pid", "name", "cpu_percent", "memory_percent", "cmdline"]
             ):
                 try:
-                    cmdline = " ".join(proc.info["cmdline"])
+                    # Fix for the join() error - handle None case
+                    cmdline = " ".join(proc.info["cmdline"]) if proc.info["cmdline"] else ""
+
                     if (
-                        "ros" in proc.info["name"]
-                        or "node" in proc.info["name"]
-                        or "node" in cmdline
-                        or "python3" in proc.info["name"]
-                        or "ros" in cmdline
-                    ) and not ("code" in proc.info["name"]):
+                        "ros" in proc.info["name"].lower()
+                        or "node" in proc.info["name"].lower()
+                        or "node" in cmdline.lower()
+                        or "python3" in proc.info["name"].lower()
+                        or "ros" in cmdline.lower()
+                    ) and not ("code" in proc.info["name"].lower()):
                         pid = proc.info["pid"]
                         name = proc.info["name"]
                         cpu_percent = proc.info["cpu_percent"]
@@ -81,7 +77,6 @@ def main():
                                 total_cpu_percent,
                             ]
                         )
-
                 except (
                     psutil.NoSuchProcess,
                     psutil.AccessDenied,
@@ -91,6 +86,5 @@ def main():
 
             time.sleep(1)
 
-
 if __name__ == "__main__":
     main()