Diagnostics should not be OK if the realtime control loop is overrun

[haudren]

Hello,

I noticed the following behavior today during some testing:

• Connect to a running F60 controller attached to a RS007N
• Diagnostics are published correctly, showing "OK" as message and the diagnostics status is OK (0)
• Turn off the robot controller
• Message turns to "Realtime loop used too much time in the last 30 seconds.";
• Status stays OK (0)

I guess the problem is here: https://github.com/Kawasaki-Robotics/khi_robot/blob/99cf142c46892a716ee6c9bbc0518e97fc803f12/khi_robot_control/src/main.cpp#L175

I would expect to see a 1 (WARNING) or 2 (ERROR) or even 3 (STALE)

By the way, I would recommend using Enums, as in

diagnostics_msgs::DiagnosticStatus::WARN

Instead of directly using the values

[d-nakamichi]

Yes, currently status.level changes to 0 when overrun continues. So I try to modify its level and overrun counting.

https://github.com/d-nakamichi/khi_robot/commits/modify_diagnostics_level

It would be helpful if you comment something about this.