dummy_diag_publisher

Purpose

This package outputs a dummy diagnostic data for debugging and developing.

Inputs / Outputs

Outputs

Name	Type	Description
/diagnostics	diagnostic_msgs::msgs::DiagnosticArray	Diagnostics outputs

Parameters

Node Parameters

The parameter DIAGNOSTIC_NAME must be a name that exists in the parameter YAML file. If the parameter status is given from a command line, the parameter is_active is automatically set to true.

Name	Type	Default Value	Explanation	Reconfigurable
update_rate	int	10	Timer callback period [Hz]	false
DIAGNOSTIC_NAME.is_active	bool	true	Force update or not	true
DIAGNOSTIC_NAME.status	string	"OK"	diag status set by dummy diag publisher	true

YAML format for dummy_diag_publisher

If the value is default, the default value will be set.

Key	Type	Default Value	Explanation
required_diags.DIAGNOSTIC_NAME.is_active	bool	true	Force update or not
required_diags.DIAGNOSTIC_NAME.status	string	"OK"	diag status set by dummy diag publisher

Example Parameters

Name	Type	Description	Default	Range
required_diags.dummy_diag_empty	string	Dummy diagnostic with default value	default	N/A
Name	Type	Description	Default	Range
-----------------------------------	--------	------------------------------------	-----------	---------
velodyne_connection.is_active	string	Velodyne connection active status	false	N/A
velodyne_connection.status	string	Velodyne connection status	Error	N/A
velodyne_temperature.is_active	string	Velodyne temperature active status	true	N/A
velodyne_temperature.status	string	Velodyne temperature status	Warn	N/A
required_diags.livox_ptp_signal	string	Livox PTP signal status	default	N/A
camera_connection.is_active	string	Camera connection active status	true	N/A
camera_connection.status	string	Camera connection status	Stale	N/A
required_diags.lane_departure	string	Lane departure status	default	N/A
required_diags.obstacle_crash	string	Obstacle crash status	default	N/A
required_diags.vehicle_errors	string	Vehicle errors status	default	N/A
required_diags.can_bus_connection	string	CAN bus connection status	default	N/A
required_diags.speaker	string	Speaker status	default	N/A
Name	Type	Description	Default	Range
-----------------------------	--------	---------------------------------	-----------	---------
camera_connection.is_active	string	Camera connection active status	true	N/A
camera_connection.status	string	Camera connection status	Warn	N/A
required_diags.extra	string	Extra diagnostic status	default	N/A

Assumptions / Known limits

TBD.

Usage

launch

ros2 launch autoware_dummy_diag_publisher dummy_diag_publisher.launch.xml

reconfigure

ros2 param set /dummy_diag_publisher velodyne_connection.status "Warn"
ros2 param set /dummy_diag_publisher velodyne_connection.is_active true