Duplicated Node Checker#
Purpose#
This node monitors the ROS 2 environments and detect duplication of node names in the environment. The result is published as diagnostics.
Standalone Startup#
ros2 launch autoware_duplicated_node_checker duplicated_node_checker.launch.xml
Inner-workings / Algorithms#
The types of topic status and corresponding diagnostic status are following.
| Duplication status | Diagnostic status | Description |
|---|---|---|
OK |
OK | No duplication is detected |
Duplicated Detected |
ERROR | Duplication is detected |
Inputs / Outputs#
Output#
| Name | Type | Description |
|---|---|---|
/diagnostics |
diagnostic_msgs/DiagnosticArray |
Diagnostics outputs |
Parameters#
| Name | Type | Description | Default | Range |
|---|---|---|---|---|
| update_rate | float | The scanning and update frequency of the checker. | 10 | >2 |
Assumptions / Known limits#
TBD.