diff --git a/system/cgroup_setter/CMakeLists.txt b/system/cgroup_setter/CMakeLists.txt
new file mode 100644
index 0000000000000..3882ea9781e9e
--- /dev/null
+++ b/system/cgroup_setter/CMakeLists.txt
@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.14)
+project(cgroup_setter)
+
+find_package(autoware_cmake REQUIRED)
+find_package(yaml-cpp REQUIRED)
+find_package(Boost REQUIRED COMPONENTS filesystem system)
+include_directories(${Boost_INCLUDE_DIRS})
+
+autoware_package()
+
+ament_auto_add_executable(${PROJECT_NAME}
+ src/cgroup_setter.cpp
+)
+
+target_link_libraries(cgroup_setter yaml-cpp)
+target_link_libraries(cgroup_setter ${Boost_LIBRARIES})
+
+ament_auto_package(INSTALL_TO_SHARE
+ launch
+ config
+)
diff --git a/system/cgroup_setter/README.md b/system/cgroup_setter/README.md
new file mode 100644
index 0000000000000..6c510fcde0b94
--- /dev/null
+++ b/system/cgroup_setter/README.md
@@ -0,0 +1,95 @@
+# cgroup_setter
+
+## Purpose
+
+This package set a PID to a custom cgroup.
+The PID is found by `pgrep -f`.
+
+## Inputs / Outputs
+
+### Outputs
+
+| Name | Type | Description |
+| -------------- | ---------------------------------------- | ------------------- |
+| `/diagnostics` | `diagnostic_msgs::msgs::DiagnosticArray` | Diagnostics outputs |
+
+## Parameters
+
+### Node Parameters
+
+| Name | Type | Default Value | Explanation | Reconfigurable |
+| ---------------------------- | ------ | ---------------------------------------------------- | -------------- | -------------- |
+| `cgroup_setting_config_path` | string | `$(find-pkg-share cgroup_setter)/config/cgroup.yaml` | yaml file path | |
+
+### YAML format for cgroup_setter
+
+format
+
+```yaml
+base_path: /sys/fs/cgroup
+settings:
+ - directory: xxx/xxx
+ search_word:
+ - xxxxx
+ - xxxxx
+ - directory: xxx/xxx
+ search_word:
+ - xxxxx
+```
+
+The following is an example of joining the PID from running `pgrep -f`
+with the keyword `__node:=system_monitor_container` to a cgroup named `/sys/fs/cgroup/autoware/system_monitor`.
+
+example
+
+```yaml
+base_path: /sys/fs/cgroup
+settings:
+ - directory: autoware/system_monitor
+ search_word:
+ - __node:=system_monitor_container
+```
+
+#### Rules
+
+- The value of settings must be a sequence.
+
+example
+
+```yaml
+# NG
+base_path: /sys/fs/cgroup
+settings:
+ directory: autoware/system_monitor # - directory
+ search_word:
+ - __node:=system_monitor_container
+```
+
+- The value of search_word must be a sequence.
+
+example
+
+```yaml
+# NG
+base_path: /sys/fs/cgroup
+settings:
+ - directory: autoware/system_monitor
+ search_word: __node:=system_monitor_container # ["__node:=system_monitor_container"] or - "__node:=system_monitor_container"
+```
+
+#### Notes
+
+- Write permission is required for a custom cgroup, and /sys/fs/cgroup/cgroup.procs to attach a PID to the cgroup.
+- A PID cannot be attached to a cgroup that has a small group.（only leaf cgroup）
+
+## Assumptions / Known limits
+
+TBD.
+
+## Usage
+
+### launch
+
+```sh
+ros2 launch cgroup_setter cgroup_setter.launch.xml
+```
diff --git a/system/cgroup_setter/config/cgroup.yaml b/system/cgroup_setter/config/cgroup.yaml
new file mode 100644
index 0000000000000..34d7e4378055f
--- /dev/null
+++ b/system/cgroup_setter/config/cgroup.yaml
@@ -0,0 +1,5 @@
+base_path: /sys/fs/cgroup
+settings:
+ - directory: autoware/system_monitor
+ search_word:
+ - __node:=system_monitor_container
diff --git a/system/cgroup_setter/launch/cgroup_setter.launch.xml b/system/cgroup_setter/launch/cgroup_setter.launch.xml
new file mode 100644
index 0000000000000..017638670f2da
--- /dev/null
+++ b/system/cgroup_setter/launch/cgroup_setter.launch.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
diff --git a/system/cgroup_setter/package.xml b/system/cgroup_setter/package.xml
new file mode 100644
index 0000000000000..214392a6c3465
--- /dev/null
+++ b/system/cgroup_setter/package.xml
@@ -0,0 +1,26 @@
+
+
+
+ cgroup_setter
+ 0.1.0
+ set pid to a cgroup
+ TetsuKawa
+ Apache License 2.0
+
+ ament_cmake_auto
+ autoware_cmake
+
+ diagnostic_msgs
+ diagnostic_updater
+ libboost-filesystem-dev
+ rclcpp
+ rclcpp_components
+ yaml-cpp
+
+ ament_lint_auto
+ autoware_lint_common
+
+
+ ament_cmake
+
+
diff --git a/system/cgroup_setter/src/cgroup_setter.cpp b/system/cgroup_setter/src/cgroup_setter.cpp
new file mode 100644
index 0000000000000..c8e5f65958a57
--- /dev/null
+++ b/system/cgroup_setter/src/cgroup_setter.cpp
@@ -0,0 +1,224 @@
+// Copyright 2024 Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * @file cgroup_setter.cpp
+ * @brief Cgroup setter class
+ */
+
+#include "cgroup_setter.hpp"
+
+#include
+
+#include
+#include
+
+#include
+#include
+#include
+#include
+#include
+#include
+
+namespace bp = boost::process;
+
+CgroupSetter::CgroupSetter(const rclcpp::NodeOptions & options)
+: Node("cgroup_setter_node", options), updater_(this)
+{
+ try {
+ std::string yaml_path = this->declare_parameter("cgroup_setting_config_path");
+ YAML::Node config = YAML::LoadFile(yaml_path);
+ if (config["base_path"]) {
+ base_path_ = config["base_path"].as();
+ } else {
+ RCLCPP_ERROR(this->get_logger(), "base_path is not set in the config file.");
+ return;
+ }
+
+ if (!config["settings"]) {
+ RCLCPP_ERROR(this->get_logger(), "settings is not set in the config file.");
+ return;
+ }
+
+ for (auto setting : config["settings"]) {
+ if (!setting["directory"] || !setting["search_word"]) {
+ RCLCPP_ERROR(this->get_logger(), "directory or search_word is not set in the config file.");
+ return;
+ }
+
+ for (auto word : setting["search_word"]) {
+ std::pair tmp_pair =
+ std::make_pair(setting["directory"].as(), word.as());
+ cgroup_map_[tmp_pair] = false;
+ }
+ }
+ } catch (const std::exception & e) {
+ RCLCPP_ERROR(this->get_logger(), "Failed to load the config file.");
+ return;
+ }
+
+ gethostname(hostname_, sizeof(hostname_));
+ updater_.setHardwareID(hostname_);
+ updater_.add("Cgroup Setting", this, &CgroupSetter::checkCgroup);
+
+ // Timer
+ using namespace std::literals::chrono_literals;
+ timer_ = rclcpp::create_timer(
+ this, this->get_clock(), 1s, std::bind(&CgroupSetter::checkProcessAndAddToCgroup, this));
+}
+
+void CgroupSetter::checkCgroup(diagnostic_updater::DiagnosticStatusWrapper & stat)
+{
+ bool allOK = true;
+ for (auto & entry : cgroup_map_) {
+ if (entry.second) {
+ stat.add(entry.first.first + " " + entry.first.second, "OK");
+ } else {
+ allOK = false;
+ stat.add(entry.first.first + " " + entry.first.second, "NG");
+ }
+ }
+ if (allOK) {
+ timer_->cancel();
+ stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "All processes are added to cgroup.");
+ } else {
+ stat.summary(
+ diagnostic_msgs::msg::DiagnosticStatus::WARN, "Some processes are not added to cgroup.");
+ }
+}
+
+void CgroupSetter::checkProcessAndAddToCgroup()
+{
+ for (auto & entry : cgroup_map_) {
+ if (entry.second) {
+ continue;
+ }
+ std::string word = entry.first.second;
+ std::string result = executeCommand(word);
+ if (!result.empty()) {
+ std::istringstream iss(result);
+ std::string pid;
+ bool allAdded = true;
+ while (std::getline(iss, pid, '\n')) {
+ if (!pid.empty() && addToCgroup(entry.first.first, pid)) {
+ if (checkPIDExists(base_path_ + "/" + entry.first.first + "/cgroup.procs", pid)) {
+ RCLCPP_INFO(
+ this->get_logger(), "Added all PIDs to cgroup. %s %s", entry.first.second.c_str(),
+ pid.c_str());
+ } else {
+ allAdded = false;
+ RCLCPP_ERROR(
+ this->get_logger(), "Failed to add PID %s to cgroup. %s %s", pid.c_str(),
+ entry.first.second.c_str(), result.c_str());
+ }
+ } else {
+ allAdded = false;
+ RCLCPP_ERROR(
+ this->get_logger(), "Failed to add PID %s to cgroup. %s %s", pid.c_str(),
+ entry.first.second.c_str(), result.c_str());
+ }
+ }
+ if (allAdded) {
+ entry.second = true;
+ }
+ } else {
+ RCLCPP_ERROR(
+ this->get_logger(), "Failed to get PID. %s %s", entry.first.second.c_str(), result.c_str());
+ }
+ }
+}
+
+std::string CgroupSetter::executeCommand(const std::string & search_word)
+{
+ int out_fd[2];
+ if (pipe2(out_fd, O_CLOEXEC) != 0) {
+ RCLCPP_ERROR(this->get_logger(), "pipe2 error");
+ return "";
+ }
+ bp::pipe out_pipe{out_fd[0], out_fd[1]};
+ bp::ipstream is_out{std::move(out_pipe)};
+
+ int err_fd[2];
+ if (pipe2(err_fd, O_CLOEXEC) != 0) {
+ RCLCPP_ERROR(this->get_logger(), "pipe2 error");
+ return "";
+ }
+ bp::pipe err_pipe{err_fd[0], err_fd[1]};
+ bp::ipstream is_err{std::move(err_pipe)};
+ auto cmd = bp::search_path("pgrep");
+ std::vector args;
+ args.push_back("-f");
+ args.push_back(search_word);
+ bp::child c(cmd, bp::args = args, bp::std_out > is_out, bp::std_err > is_err);
+ c.wait();
+ if (c.exit_code() != 0) {
+ std::ostringstream os;
+ is_err >> os.rdbuf();
+ RCLCPP_ERROR(this->get_logger(), os.str().c_str());
+ return "";
+ } else {
+ std::ostringstream os;
+ os << is_out.rdbuf();
+ std::string output = os.str();
+ return output;
+ }
+}
+
+bool CgroupSetter::checkPIDExists(const std::string & filePath, const std::string & pid)
+{
+ std::ifstream file(filePath);
+ if (!file.is_open()) {
+ RCLCPP_ERROR(this->get_logger(), "Failed to open %s", filePath.c_str());
+ return false;
+ }
+
+ std::string line;
+ while (std::getline(file, line)) {
+ if (line == pid) {
+ return true;
+ }
+ }
+ return false;
+}
+
+bool CgroupSetter::addToCgroup(const std::string & cgroupPath, const std::string & pid)
+{
+ std::string cgroupProcFile = base_path_ + "/" + cgroupPath + "/cgroup.procs";
+ std::ofstream ofs(cgroupProcFile, std::ofstream::app);
+ if (!ofs) {
+ std::cerr << "Failed to open " << cgroupProcFile << std::endl;
+ ofs.close();
+ return false;
+ }
+ ofs << pid;
+ if (!ofs) {
+ std::cerr << "Failed to write to " << cgroupProcFile << std::endl;
+ ofs.close();
+ return false;
+ }
+ ofs.close();
+ return true;
+}
+
+int main(int argc, char ** argv)
+{
+ rclcpp::init(argc, argv);
+ rclcpp::executors::SingleThreadedExecutor executor;
+ auto options = rclcpp::NodeOptions();
+ auto node = std::make_shared(options);
+ executor.add_node(node);
+ executor.spin();
+ executor.remove_node(node);
+ rclcpp::shutdown();
+}
diff --git a/system/cgroup_setter/src/cgroup_setter.hpp b/system/cgroup_setter/src/cgroup_setter.hpp
new file mode 100644
index 0000000000000..81289c20e9730
--- /dev/null
+++ b/system/cgroup_setter/src/cgroup_setter.hpp
@@ -0,0 +1,49 @@
+// Copyright 2024 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * @file cgroup_setter.hpp
+ * @brief Cgroup setter class
+ */
+
+#ifndef CGROUP_SETTER_HPP_
+#define CGROUP_SETTER_HPP_
+
+#include
+#include
+
+#include