diagnostic_aggregator::Aggregator Class Reference

Aggregator processes /diagnostics, republishes on /diagnostics_agg. More...

#include <aggregator.h>

Public Member Functions
	Aggregator ()
	Constructor initializes with main prefix (ex: '/Robot').
double	getPubRate () const
	Publish rate defaults to 1Hz, but can be set with ~pub_rate param.
bool	ok () const
	True if the NodeHandle reports OK.
void	publishData ()
	Processes, publishes data. Should be called at pub_rate.
	~Aggregator ()
Private Member Functions
void	checkTimestamp (const diagnostic_msgs::DiagnosticArray::ConstPtr &diag_msg)
void	diagCallback (const diagnostic_msgs::DiagnosticArray::ConstPtr &diag_msg)
	Callback for incoming "/diagnostics".
Private Attributes
ros::Publisher	agg_pub_
AnalyzerGroup *	analyzer_group_
std::string	base_path_
	Prepended to all status names of aggregator.
ros::Subscriber	diag_sub_
ros::NodeHandle	n_
OtherAnalyzer *	other_analyzer_
double	pub_rate_
std::set< std::string >	ros_warnings_
	Records all ROS warnings. No warnings are repeated.

Detailed Description

Aggregator processes /diagnostics, republishes on /diagnostics_agg.

Aggregator is a node that subscribes to /diagnostics, processes it and republishes aggregated data on /diagnostics_agg. The aggregator creates a series of analyzers according to the specifications of its private parameters. The aggregated diagnostics data is organized in a tree structure. For example:

Input (status names):
  tilt_hokuyo_node: Frequency
  tilt_hokuyo_node: Connection
Output:
  /Robot
  /Robot/Sensors
  /Robot/Sensors/Tilt Hokuyo/Frequency
  /Robot/Sensors/Tilt Hokuyo/Connection

The analyzer should always output a DiagnosticStatus with the name of the prefix. Any other data output is up to the analyzer developer.

Analyzer's are loaded by specifying the private parameters of the aggregator.

base_path: My Robot
pub_rate: 1.0
analyzers:
  sensors:
    type: GenericAnalyzer
    path: Tilt Hokuyo
    find_and_remove_prefix: tilt_hokuyo_node
  motors:
    type: PR2MotorsAnalyzer
  joints:
    type: PR2JointsAnalyzer

Each analyzer is created according to the "type" parameter in its namespace. Any other parametes in the namespace can by used to specify the analyzer. If any analyzer is not properly specified, or returns false on initialization, the aggregator will report the error and publish it in the aggregated output.

Definition at line 99 of file aggregator.h.