diagnostic_updater

diagnostic_updater: Easily publishes diagnostics for a driver or node

diagnostic_updater contains tools for easily updating diagnostics. it is commonly used in device drivers to keep track of the status of output topics, device status, etc.

Homepage: http://www.ros.org/wiki/diagnostic_updater

diagnostic_updater contains assorted C++ classes to assist in diagnostic publication. These libraries are commonly used by device drivers as part of the diagnostics toolchain. The main parts of diagnostic_updater are:

• diagnostic_updater::DiagnosticStatusWrapper, a wrapper providing convenience functions for working with diagnostics_msgs::DiagnosticStatus.

• Updater, a class for managing periodic publishing of the diagnostic_updater::DiagnosticStatusWrapper output by a set of diagnostic_updater::DiagnosticTask.

• diagnostic_updater::TopicDiagnostic and diagnostic_updater::HeaderlessTopicDiagnostic for calculating and publishing statistics on timestamps and publication frequencies, and their corresponding diagnostic_updater::DiagnosedPublisher and diagnostic_updater::HeaderlessDiagnosedPublisher to update the statistics automatically when publications are made to a topic.

Example uses of these classes can be found in example.cpp.