Info e Errori

[Z4nna]

Inserire in ogni nodo un publisher di tipo “DiagnosticArray” che pubblichi periodicamente tutti i messaggi di diagnostica

[Z4nna]

To create a DiagnosticArray message:

1. declare the variable diagnostic_array;
2. Assign the header: diagnostic_array.header.stamp = this->get_clock()->now();
3. Assign the ID: diagnostic_array.header.frame_id = "node_name";
4. Declare a DiagnosticStatus messages array: diagnostic_statuses[N]
5. Add all the DiagnosticStatus messages you like to the array ( check the array bounds )
6. add the array to the DiagnosticArray message: diagnostic_array.status.data = diagnostic_statuses;

[Z4nna]

To create a DiagnosticStatus message:

1. Declare the message variable: diagnostic_status;
2. Assign the level ( see documentation at https://github.com/ros2/common_interfaces/blob/rolling/diagnostic_msgs/msg/DiagnosticStatus.msg ) : diagnostic_status.level = LEVEL_CODE;
3. Assign a name: diagnostic_status.name.data = "name";
4. Assign the message: diagnostic_status.message.data = "message";
5. Optional: for debugging purposes, you might want to add a dictionary or an hardware_id. See docs.

[SalvatoreLS]

Diagnostic array completed for both sensors