Template Class DiagnosedPubSub

Inheritance Relationships

Derived Types

Class Documentation

template<class Message, typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
class DiagnosedPubSub

Base for ROS publisher and subscriber with automatic message rate and delay diagnostics.

This class offers an option to configure the diagnostic task from a set of ROS parameters. The following parameters are read:

  • rate/desired (double, Hz, no default): If set, this value will be used as the default of min/max rates.

  • rate/min (double, Hz, default 0.0 or desired): Minimum acceptable rate.

  • rate/max (double, Hz, default +inf or desired): Maximum acceptable rate.

  • rate/tolerance (double, default 0.1): Tolerance of the min/max rate (0.0 means that the min/max rate limits are strict).

  • rate/window_size (uint, default 5): Over how many diagnostics updates should the rate be computed.

  • delay/min (double, s, default -1.0): Minimum acceptable delay (only computed for messages with a header).

  • delay/max (double, s, default 5.0): Maximum acceptable delay (only computed for messages with a header).

Template Parameters:

  • Message – Type of the published/subscribed message.

  • Enable – SFINAE only. Do not explicitly set.

Subclassed by cras::DiagnosedPublisher< Message, Enable >, cras::DiagnosedSubscriber< Message, Enable >

Public Functions

explicit DiagnosedPubSub(const ::std::shared_ptr<::cras::TopicStatus<Message>> &diag)

Use the given diagnostic task to diagnose the publisher/subscriber.

Parameters:

diag – [in]

explicit DiagnosedPubSub(const ::std::string &name, const ::cras::TopicStatusParam<Message> &diagParams)

Create the diagnostic task from the given params.

Parameters:

  • name – [in] Name of the task.

  • diagParams – [in] Parameters of the task.

DiagnosedPubSub(const ::cras::BoundParamHelperPtr &params, const ::cras::SimpleTopicStatusParam<Message> &defaultParams)

Configure the diagnostic task from the given ROS parameter helper.

Parameters:

  • params – [in] The ROS parameters to load configuration from.

  • defaultParams – [in] Defaults used in case a ROS parameter doesn’ exist.

explicit DiagnosedPubSub(const ::cras::BoundParamHelperPtr &params)

Configure the diagnostic task from the given ROS parameter helper.

Parameters:

params – [in] The ROS parameters to load configuration from.

virtual ~DiagnosedPubSub() = default
virtual void attach(::diagnostic_updater::Updater &updater)

Add the diagnostic task to the given updater.

Parameters:

updater – [in] The updater to add to.

::std::shared_ptr<::cras::TopicStatus<Message>> getDiagnosticTask() const

Get the topic diagnostic task.

Returns:

The task.

Protected Functions

template<class M = Message, ::std::enable_if_t<::ros::message_traits::HasHeader<M>::value, bool> EnableM = true>
void addDelayParams(::cras::SimpleTopicStatusParam<Message> &topicStatusParam, const ::cras::BoundParamHelperPtr &params)

When configuring from ROS params, load the delay configuration.

Template Parameters:

  • M – SFINAE only. Do not set explicitly.

  • EnableM – SFINAE only. Do not set explicitly.

Parameters:

  • topicStatusParam – [in] Some pre-loaded param struct.

  • params – [in] Parameters to load from?

template<class M = Message, ::std::enable_if_t<!::ros::message_traits::HasHeader<M>::value, bool> EnableM = true>
void addDelayParams(::cras::SimpleTopicStatusParam<Message> &topicStatusParam, const ::cras::BoundParamHelperPtr &params)

When configuring from ROS params for a headerless message type, this function does nothing.

Template Parameters:

  • M – SFINAE only. Do not set explicitly.

  • EnableM – SFINAE only. Do not set explicitly.

Parameters:

  • topicStatusParam – [in] Some pre-loaded param struct.

  • params – [in] Parameters to load from?

Protected Attributes

::std::shared_ptr<::cras::TopicStatus<Message>> diag = {nullptr}

The diagnostic task.