clearpath_diagnostics on robot is not running the aggregator

[SteveMacenski]

Please provide the following information:

• OS: 22.04
• ROS 2 Distro: Humble
• Built from source or installed: Provided on robot shipment

• Real hardware or simulation: Real robot

  Expected behaviour

I expected that the version cloned here on the humble branch would match what the robot shipped with

Actual behaviour

There appears to be discrepancies, even though the aggregator node doesn't appear to have changed in the diagnostics launch file for nearly a year

Output of ros2 node list on the robot, no changes made:

/j100_0849/analyzers
/j100_0849/battery_state_control
/j100_0849/battery_state_estimator
/j100_0849/clearpath_diagnostics_updater
/j100_0849/controller_manager
/j100_0849/ekf_node
/j100_0849/imu_filter_node
/j100_0849/j100_hardware_interface
/j100_0849/jackal_mcu
/j100_0849/joint_state_broadcaster
/j100_0849/joy_node
/j100_0849/nmea_topic_driver
/j100_0849/platform_velocity_controller
/j100_0849/robot_state_publisher
/j100_0849/sensors/camera_0/image_processing_container
/j100_0849/sensors/camera_0/intel_realsense
/j100_0849/sensors/imu_1/microstrain_inertial_driver
/j100_0849/sensors/imu_1/transform_listener_impl_561f8a3c2550
/j100_0849/sensors/imu_1/transform_listener_impl_561f8a3c42d0
/j100_0849/sensors/imu_1/transform_listener_impl_561f8a4476e0
/j100_0849/teleop_twist_joy_node
/j100_0849/transform_listener_impl_5593f2212570
/j100_0849/twist_mux
/j100_0849/twist_server_node
/j100_0849/wireless_watcher

Note: there is no Aggregator node like you obtain from v 0.2.0 and newer.

Not really an issue I suppose since I didn't have an imminent use for it, but seemed worth reporting since I'm going 1:1 on the topics after my refactor on the hardware to make sure I didn't mess anything clear up and was digging into "huh, why don't I see a couple of these topics on the robot"

[SteveMacenski]

I see the stuff trying to publish to these topics, but the node associated with it isn't listening. When I let the robot warm up for a few minutes those aggregator topics do appear finally due to this on the CLI but going into the ether

administrator@cpr-j100-0849:~$ ros2 topic info /j100_0849/diagnostics_agg
Type: diagnostic_msgs/msg/DiagnosticArray
Publisher count: 1
Subscription count: 0