Class HeaderlessTopicDiagnostic

• Defined in File publisher.hpp

Inheritance Relationships

Base Type

• public diagnostic_updater::CompositeDiagnosticTask (Class CompositeDiagnosticTask)

Derived Type

• public diagnostic_updater::TopicDiagnostic (Class TopicDiagnostic)

Class Documentation

class HeaderlessTopicDiagnostic : public diagnostic_updater::CompositeDiagnosticTask

A class to facilitate making diagnostics for a topic using a FrequencyStatus.

The word “headerless” in the class name refers to the fact that it is mainly designed for use with messages that do not have a header, and that cannot therefore be checked using a TimeStampStatus.

Subclassed by diagnostic_updater::TopicDiagnostic

Public Functions

inline HeaderlessTopicDiagnostic(std::string name, diagnostic_updater::Updater &diag, const diagnostic_updater::FrequencyStatusParam &freq, const rclcpp::Clock::SharedPtr &clock = std::make_shared<rclcpp::Clock>())

Constructs a HeaderlessTopicDiagnostic.

Parameters:

• name – The name of the topic that is being diagnosed.

• diag – The diagnostic_updater that the CompositeDiagnosticTask should add itself to.

• freq – The parameters for the FrequencyStatus class that will be computing statistics.

• clock – Pointer to a clock instance. If not provided, the default one will be used

inline virtual ~HeaderlessTopicDiagnostic()

inline virtual void tick()

Signals that a publication has occurred.

inline virtual void clear_window()

Clears the frequency statistics.