`[🤔 ROS2?] /diagnostics_agg`#

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This documentation page has been auto-generated.

It may be missing some details.

/diagnostics_agg Quick Facts

Category: 🛠 Robot management
Message type: diagnostic_msgs/msg/DiagnosticArray
Direction: ➡️ you normally subscribe to this topic.

Quick snippets#

Check the publication rate#

$ ros2 topic hz /diagnostics_agg

Display the data published on the topic#

$ ros2 topic echo /diagnostics_agg

How to use in your code#

Subscribe to the topic using Python#

#!/usr/bin/env python

import rclpy
from rclpy.node import Node

from diagnostic_msgs.msg import DiagnosticArray


class DiagnosticsAggSubscriber(Node):

    def __init__(self):
        super().__init__('diagnostics_agg_subscriber')
        self.subscription = self.create_subscription(
            DiagnosticArray,
            '/diagnostics_agg',
            self.listener_callback,
            10)

    def listener_callback(self, msg):
        # see https://docs.ros2.org/latest/api/diagnostic_msgs/msg/DiagnosticArray.html
        # for the msg structure
        self.get_logger().info('I heard: "%s"' % msg.data)


if __name__ == '__main__':
    rclpy.init(args=args)

    subscriber = DiagnosticsAggSubscriber()

    rclpy.spin(subscriber)

    rclpy.shutdown()

Subscribe to the topic using C++#

#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "diagnostic_msgs/msg/diagnostic_array.hpp"

using std::placeholders::_1;
using namespace rclcpp;

class DiagnosticsAggSubscriber : public rclcpp::Node
{
public:
    DiagnosticsAggSubscriber()
    : Node("diagnostics_agg_subscriber")
    {
    subscription_ = this->create_subscription<diagnostic_msgs::msg::DiagnosticArray>(
            "/diagnostics_agg",
            10,
            std::bind(&DiagnosticsAggSubscriber::topic_callback, this, _1));
    }

private:
    void topic_callback(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr msg) const
    {
    // see https://docs.ros2.org/latest/api/diagnostic_msgs/msg/DiagnosticArray.html
    // for the msg structure
    RCLCPP_INFO_STREAM(this->get_logger(), "Got " << msg->data);
    }

    Subscription<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr subscription_;
};

int main(int argc, char * argv[])
{
init(argc, argv);
spin(std::make_shared<DiagnosticsAggSubscriber>());
shutdown();
return 0;
}

[🤔 ROS2?] /diagnostics_agg#

Quick snippets#

How to use in your code#

`[🤔 ROS2?] /diagnostics_agg`#