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Diagnostic Updater API

diagnostic_updater provides a variety of C++ utilities to assist in integrating diagnostics with your software. Common updater tasks include:

• publishing the status of a sensor data topic on a device driver
• reporting that a hardware device is closed
• reporting an error when a value is out of bounds, e.g. temperature

It also provides a Python API very similar to the C++ API

Examples and Tutorials

A working example of a diagnostic_updater can be found in diagnostic_updater/src/example.cpp. This example goes through some of the most common uses of an updater.

API Stability

The documented C++ API is widely used and should be considered stable.

diagnostic_updater::DiagnosticStatusWrapper

The diagnostic_updater::DiagnosticStatusWrapper class eases the pain of filling out a diagnostic_msgs/DiagnosticStatus message. It handles setting the summary, possibly with printf-type formatting of the message field, and setting of key-value pairs with type-conversion and formatting of the values. It also has facilities for merging multiple diagnostic_msgs/DiagnosticStatus messages without losing information in the status message.

diagnostic_updater::Updater

The diagnostic_updater::Updater class manages a set of diagnostic update functions, and their periodic publication.

diagnostic_updater::DiagnosedPublisher

Monitoring a topic's frequency, a common diagnostics feature, and the validity of its timestamps can be done using pre-packaged diagnostic update functions. A diagnostic_updater::DiagnosedPublisher wraps a Publisher and standard diagnostics that relate to it in a single class.