Added first commit for diagnostics for the phidgets.

[keshaviyengar]

Hi,

This just my first commit for the diagnostics. Check and see if this works on the imu (should be working). I can also add other information if you would like.

Thanks,

[muhrix]

This looks good to me.
@mintar could you please double check #20 before I merge?

[mintar]

Missing slash ("/") in the two closing tags above.

[keshaviyengar]

OK, will fix these soon and update pull request. Thanks for the corrections.

[mintar]

Don't merge yet.

I've added a couple of comments; they need to be fixed to make it compile.

Also, the last diagnostics message needs to be published periodically (let's say once a second). Otherwise the diagnostics don't show up until the state changes, and then they will be marked stale in rqt_runtime_monitor.

how to test:

Launch file:

<node pkg="diagnostic_aggregator" type="aggregator_node"
      name="diagnostic_aggregator" >
  <rosparam command="load" 
            file="$(find my_pkg)/analyzers.yaml" />
</node>

analyzers.yaml:

pub_rate: 1.0 # Optional
base_path: '' # Optional, prepended to all diagnostic output
analyzers:
#  motors:
#    type: GenericAnalyzer
#    path: Motors
#    startswith: 'EtherCAT'
  sensors:
    type: AnalyzerGroup
    path: Sensors
    analyzers:
      imu:
        type: GenericAnalyzer
        path: IMU
        timeout: 5.0
        find_and_remove_prefix: imu_node
        num_items: 3

Then rosrun rqt_runtime_monitor rqt_runtime_monitor.

[mintar]

Ah, I saw that you already added a commit. Yep, that's what I meant. So now what's missing before we can merge is the periodic publishing. Could you add a comment once you've done that? I only get notifications for comments, not new commits added to the PR.

[keshaviyengar]

Yes, I will comment once I am done.

[keshaviyengar]

So far the periodic publishing, I just need to add the aggregator and add the analyzers.yaml with the pub_rate: 1.0 #Hertz ?

[mintar]

Sorry for the late reply - family obligations! :)

So far the periodic publishing, I just need to add the aggregator and add the analyzers.yaml with the pub_rate: 1.0 #Hertz ?

No, you need to call updater.update() somewhere where it will be called periodically. The easiest place would probably be in ImuRosI::processImuData(). On that note, you should perhaps move the whole diagnostics stuff from phidgets_api to phidgets_imu. You should probably also replace the Publishers in phidgets_imu by DiagnosedPublishers.

[keshaviyengar]

Thanks for the help! I'll get this done this week and comment with an update.

[mani-monaj]

@kkiyenga It's an a good feature to have. Have you had a chance to update the diagnostics code? I volunteer to continue this development if you are not working on it anymore.

[keshaviyengar]

@mani-monaj I can work on it later this month or if you really interested you can definitely finish it up.

[mani-monaj]

@kkiyenga Thanks for your quick reply. I will most likely start doing it later this week. I think I can finish it up.

[mintar]

This PR can be closed (moved to #24 ).