DiagnosticNodelet (C++)¶
Description¶
This class is a subclass of ConnectionBasedNodelet
.
Instances of this class can publish diagnostics messages.
This is an abstruct class.
Note¶
Each subclass of this class is required to call vital_checker_->poke()
on all callback functions so that this class can check the health of the functionality of the nodelet.
Publishing Topic¶
~diagnostics
(diagnostic_msgs::DiagnosticArray
):Diagnostic messages
Parameter¶
~vital_rate
(Double, default:1.0
):Rate to determine if the nodelet is in health. If the rate that the callback functions is below this parameter, error messages are displayed on diagnostics.
/diagnostic_nodelet/use_warn
or~use_warn
(Bool, default:False
):If this parameter is enabled, diagnostic messages on failure is displayed on
WARN
level instead ofERROR
level./diagnostic_nodelet/use_warn
affects every nodelets that inherits this class, but it still can be overriden for each nodelet by setting~use_warn
parameter.