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).