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ROS diagnostics

ROS diagnostics gives you the ability to monitor your system. There are two components in its architecture:

  • diagnostic_updater
  • diagnostic_aggregator

The diagnostic_updater publishes diagnostic status messages on the /diagnostics topic, and the aggregator listens to these statuses, aggregates them, and publishes the results on the /diagnostics_agg topic.

diagnostic_updater

Provide an easy way to publish diagnostic information from node

diagnostic_aggregator

The aggregator collects, categorizes, and groups the statuses from all the system components. You can take a look at what is being published on the /diagnostics and /diagnostics_agg topics with the rqt_runtime_monitor and rqt_robot_monitor tools

Diagnostic Tasks

Diagnostic aggregator

Diagnostic monitor

install

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sudo apt update
sudo apt install -y \
  ros-humble-diagnostic-updater \
  ros-humble-diagnostic-aggregator \
  ros-humble-diagnostic-msgs \
  ros-humble-diagnostic-common-diagnostics

# rqt
sudo apt install ros-humble-rqt-robot-monitor
sudo apt install ros-humble-rqt-runtime-monitor

diagnostics_msg

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octet OK=0
octet WARN=1
octet ERROR=2
octet STALE=3
octet level
string name
string message
string hardware_id
diagnostic_msgs/msg/KeyValue[] values

diagnostic_aggregator

Aggregator is a node that subscribes to /diagnostics, processes it and republishes aggregated data on /diagnostics_agg.

The aggregator creates a series of analyzers to handle incoming DiagnosticStatus

API

Demos

Reference

projects to check