Converter tool

This tool converts /diagnostics_graph to /diagnostics_array so it can be read by tools such as rqt_runtime_monitor.

Usage

ros2 launch autoware_diagnostic_graph_utils converter.launch.xml

Use the launch file rather than ros2 run: it preloads the Agnocast heaphook, which the node needs to publish when built with ENABLE_AGNOCAST=1.

Examples

Terminal 1:

ros2 launch diagnostic_graph_aggregator example-main.launch.xml

Terminal 2:

ros2 launch autoware_diagnostic_graph_utils converter.launch.xml

Terminal 3:

ros2 run rqt_runtime_monitor rqt_runtime_monitor --ros-args -r diagnostics:=diagnostics_array