README

General information about this repository, including legal information, build instructions and known issues/limitations, are given in README.md in the repository root.

The diagnostic_updater package

This package is used to implement the collection of diagnostics information.

Overview

It can for example update the state of sensors or actors of the robot. Common tasks include

Publish the status of a sensor topic from a device driver
Report that a hardware device is closed
Send an error if a value is out bounds (e.g. temperature)

Example

The file example.cpp contains an example of how to use the diagnostic_updater.

C++ and Python API

The main classes are:

DiagnosticStatusWrapper

This class is used to create a diagnostic message. It simplifies the creation of the message by providing methods to set the level, name, message and values. There is also the possibility to merge multiple DiagnosticStatusWrapper into one.

Updater

This class is used to collect the diagnostic messages and to publish them.

DiagnosedPublisher

A ROS publisher with included diagnostics. It diagnoses the frequency of the published messages.

Parameters

diagnostic_updater.period (double, default: 1.0) Sets the publishing period (in seconds) for the diagnostic updater. This overrides the value set in the constructor of diagnostic_updater.
diagnostic_updater.use_fqn (bool, default: false) If true, diagnostics are published using the fully qualified ROS node name (e.g. /ns/node_name) instead of node_name.