micro_ros_diagnostic_bridge

Translates micro-ROS diagnostic messages to vanilla ROS 2 diagnostic messages.

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README

General information about this repository, including legal information, build instructions and known issues/limitations, can be found in the README of the repository root.

The micro-ROS diagnostic bridge package

micro-ROS diagnostic bridge is a ROS 2 package that provides a bridge to translate micro-ROS diagnostic messages to vanilla ROS 2 diagnostic messages based on a lookup table.

An exemplary lookup table can be found in: example_table.yaml, along with an example launch file

Purpose of the Project

This software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards, e.g., ISO 26262.

How to Build, Test, Install, and Use

After you cloned this repository into your ROS 2 workspace folder, you may build and install it using colcon:

colcon build --packages-select micro_ros_diagnostic_bridge

Change default input topics or output topic

Input

By default, the micro_ros_diagnostic_bridge will listen for updates on <namespace>/diagnostics_uros. However, it may happen that, as a user, the namespaces where your bridge and updater node run are not the same. For simplicity for the user, the default launch file for the bridge has a launch configuration so that one can pass the remapping needed.

Please read the README of the micro_ros_diagnostic_updater for information on how to modify the default topic name.

Note

    The updater will always have the form <prefix>/diagnostics_uros

Output

By default, the micro_ros_diagnostic_bridge will publish to <namespace>/diagnostics. In order for the user to be able to adjust this to their convenience, the default launch file for the bridge has a launch configuration to modify such topic.

Launching

To launch with remappings

ros2 launch micro_ros_diagnostic_bridge diagnostic_bridge.launch.py input_topic:=[/]your/new/input/topicname output_topic:=[/]your/topic/diagnostics

Note:

    * There's no need to use the word diagnostics on the output. However, it's recommended. Use it on your convenience.
    * The input topic is always diagnostics_uros. The user may prepend namespaces to it.
    * If your remap begins with a `/` you'll be providing a FQDN which will not respect your node namespace.
    * Your input_topic:= needs to match to your updater output_topic

Build with examples

As mentioned, this package does not build the examples by default, to do so, you can build with

colcon build --packages-select micro_ros_diagnostic_bridge --cmake-args -DMICRO_ROS_DIAGNOSTIC_BRIDGE_EXAMPLES=ON

License

The micro-ROS diagnostics framework packages are open-sourced under the Apache-2.0 license. See the ../LICENSE file for details.

For a list of other open-source components included in ROS 2 system_modes, see the file ../3rd-party-licenses.txt.

Acknowledgments

This activity has received funding from the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme (grant agreement n° 780785).