#include <optional_diagnosed_publisher.h>

Inheritance diagram for swri::OptionalDiagnosedPublisher< T >:

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Public Member Functions
	OptionalDiagnosedPublisher (const ros::Publisher &pub, diagnostic_updater::Updater &diag, const diagnostic_updater::FrequencyStatusParam &freq, const diagnostic_updater::TimeStampStatusParam &stamp)

virtual void	run (diagnostic_updater::DiagnosticStatusWrapper &stat)

virtual void	setEnabled (bool enabled)

virtual	~OptionalDiagnosedPublisher ()

Public Member Functions inherited from diagnostic_updater::DiagnosedPublisher< T >
	DiagnosedPublisher (const ros::Publisher &pub, diagnostic_updater::Updater &diag, const diagnostic_updater::FrequencyStatusParam &freq, const diagnostic_updater::TimeStampStatusParam &stamp)

ros::Publisher	getPublisher () const

virtual void	publish (const boost::shared_ptr< T > &message)

virtual void	publish (const T &message)

void	setPublisher (ros::Publisher pub)

virtual	~DiagnosedPublisher ()

Public Member Functions inherited from diagnostic_updater::TopicDiagnostic
virtual void	tick ()

virtual void	tick (const ros::Time &stamp)

	TopicDiagnostic (std::string name, diagnostic_updater::Updater &diag, const diagnostic_updater::FrequencyStatusParam &freq, const diagnostic_updater::TimeStampStatusParam &stamp)

virtual	~TopicDiagnostic ()

Public Member Functions inherited from diagnostic_updater::HeaderlessTopicDiagnostic
virtual void	clear_window ()

	HeaderlessTopicDiagnostic (std::string name, diagnostic_updater::Updater &diag, const diagnostic_updater::FrequencyStatusParam &freq)

virtual	~HeaderlessTopicDiagnostic ()

Public Member Functions inherited from diagnostic_updater::CompositeDiagnosticTask
void	addTask (DiagnosticTask *t)

	CompositeDiagnosticTask (const std::string name)

Public Member Functions inherited from diagnostic_updater::DiagnosticTask
	DiagnosticTask (const std::string name)

const std::string &	getName ()

virtual	~DiagnosticTask ()

Private Attributes
bool	is_diagnostic_enabled_

Detailed Description

template<class T>
class swri::OptionalDiagnosedPublisher< T >

The DiagnosedPublisher class is handy, but it has on problem: it can't be turned off. If you ever stop publishing, it will flag an error because your publish rate is 0. If you are intentionally not publishing because you don't have any subscribers in order to avoid unnecessary processing, that is inconvenient.

This class simply wraps the DiagnosedPublisher and adds a setEnabled method that can be used to enable or disable it. When disabled, it will simply publish a diagnostic with an "OK" status.

In theory it could dynamically determine whether you have subscribers or not and change it status based on that, but that might not be what you want in the event that you don't have subscribers but still have some kind of error to report.

Template Parameters

T	The type of message being published.

Definition at line 54 of file optional_diagnosed_publisher.h.

Constructor & Destructor Documentation

◆ OptionalDiagnosedPublisher()

template<class T >

swri::OptionalDiagnosedPublisher< T >::OptionalDiagnosedPublisher	(	const ros::Publisher &	pub,
		diagnostic_updater::Updater &	diag,
		const diagnostic_updater::FrequencyStatusParam &	freq,
		const diagnostic_updater::TimeStampStatusParam &	stamp
	)