[Example 17] RRBot with Hardware Component that publishes diagnostics #840
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anfemosa,
bmagyar,
destogl,
erickisos,
fmauch,
qiayuanl and
Raivias
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Thanks for the nice demo.
diagnostics usually refers to ros/diagnostics. Should we include this here instead of simple rclcpp publishers, or rename the demo to something else?
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ooh, I think since this is not particularly about diagnostics maybe it would be better to rename. would |
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I like diagnostics and use it from my hardware components, so maybe this would be also good to use here? we have it already in the CM, this is no new dependency then. |
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makes sense, I will use diagnostive for one of the publishers then, does that make sense? or both? |
example_17/hardware/rrbot.cpp
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| // Get Default Node added to executor | ||
| if (get_node()) | ||
| { | ||
| default_status_publisher_ = | ||
| get_node()->create_publisher<diagnostic_msgs::msg::DiagnosticArray>("/diagnostics", 10); | ||
| auto default_timer_callback = [this]() -> void | ||
| { | ||
| if (default_status_publisher_) | ||
| { | ||
| auto diagnostic_msg = std::make_unique<diagnostic_msgs::msg::DiagnosticArray>(); | ||
| diagnostic_msg->header.stamp = get_node()->now(); | ||
| diagnostic_msg->status.resize(1); | ||
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| // Populate the status | ||
| diagnostic_msg->status[0].level = diagnostic_msgs::msg::DiagnosticStatus::OK; | ||
| diagnostic_msg->status[0].name = this->get_name(); | ||
| diagnostic_msg->status[0].message = "Hardware is OK"; | ||
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| // Publish the message | ||
| default_status_publisher_->publish(std::move(diagnostic_msg)); | ||
| } | ||
| }; | ||
| using namespace std::chrono_literals; | ||
| default_status_timer_ = get_node()->create_wall_timer(2.5s, default_timer_callback); | ||
| } |
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Instead, we could use the diagnostic_updater class, which handles the timer creation etc itself?
example_17/doc/userdoc.rst
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now there is a third option, using a custom publisher with the default node? As you were describing it before? No need to implement that, but maybe mention it here?
General
This is an example to document the usage of the Executor passed from Controller Manager through the recently added Struct based
on_init()methods. Made possible by ros-controls/ros2_control#2323as a further update that will be added in ros-controls/ros2_control#2348, this will also show how to use the default node added by the framework
This allows the user to add nodes of their own to the CMs executor and publish as necessary