diagnostics
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Packages related to gathering, viewing, and analyzing diagnostics data from robots.
Overview
The diagnostics system collects information about hardware drivers and robot hardware to make them available to users and operators. The diagnostics system contains tools to collect and analyze this data.
The diagnostics system is build around the /diagnostics
topic. The topic is used for diagnostic_msgs/DiagnosticArray
messages.
It contains information about the device names, status, and values.
It contains the following packages:
-
diagnostic_aggregator
: Aggregates diagnostic messages from different sources into a single message. -
diagnostic_analysis
: Not ported to ROS2 yet #contributions-welcome -
diagnostic_common_diagnostics
: Predefined nodes for monitoring the Linux and ROS system. -
diagnostic_updater
: Base classes to publishing custom diagnostic messages for Python and C++. -
self_test
: Tools to perform self tests on nodes.
Collecting diagnostic data
At the points of interest, i.e. the hardware drivers, the diagnostic data is collected.
The data must be published on the /diagnostics
topic.
In the diagnostic_updater
package, there are base classes to simplify the creation of diagnostic messages.
Aggregation
The diagnostic_aggregator
package provides tools to aggregate diagnostic messages from different sources into a single message. It has a plugin system to define the aggregation rules.
Visualization
Outside of this repository, there is rqt_robot_monitor
to visualize diagnostic messages that have been aggregated by the diagnostic_aggregator
.
Diagnostics messages that are not aggregated can be visualized by rqt_runtime_monitor
.
Target Distribution
-
Rolling Ridley by the
ros2
branch -
Humble Hawksbill by the
ros2-humble
branch -
Iron Irwini by the
ros2-iron
branch -
Jazzy Jalisco by the
ros2-jazzy
branch
Workflow
New features are to be developed in custom branches and then merged into the ros2
branch.
From there, the changes are backported to the other branches.
Backport Tooling
This tool has proven to be useful: backport
Use this command to port a given PR of PR_NUMBER
to the other branches:
backport --pr PR_NUMBER -b ros2-humble ros2-iron ros2-jazzy
Versioning and Releases
- (X.0.0) We use the major version number to indicate a breaking change.
- (0.Y.0) The minor version number is used to differentiate between different ROS distributions:
- x.0.z: Humble Hawksbill
- x.1.z: Iron Irwini
- x.2.z: Jazzy Jalisco
- x.3.z: Rolling Ridley
- Future releases (Kilted Kaiju 05/25) will get x.3.z and Rolling will be incremented accordingly.
- (0.0.Z) The patch version number is used for changes in the current ROS distribution that do not affect the API.
License
The source code is released under a BSD 3-Clause license.