HzMeasureNodelet (C++)¶
Description¶
This node publishes hz
of target topic and diagnostics
.
User can specify ~warning_hz
param.
If target hz
is smaller than ~warning_hz
, this node outputs diagnostics
at WARN
level (if ~use_warn
is True
) or ERROR
level.
Subscribing Topic¶
~input
(AnyMsg
):Target topic.
Publishing Topic¶
~output
(std_msgs::Float32
):Target topic’s
hz
.~diagnostics
(diagnostic_msgs::DiagnosticArray
):Diagnostic messages.
Parameter¶
~measure_time
(Double
, default:1.0
):Calculate
hz
from the number of topics received in time in~measure_time
.~message_num
(Int
, default:-1
):Calculate
hz
from the arrival times of~message_num
topics. Note that if this value is less than 0 or not set,~measure_time
will be used.~warning_hz
(Double
, default:-1
):If target
hz
is smaller than~warning_hz
, this node outputsdiagnostics
atWARN
level (if~use_warn
isTrue
) orERROR
level.~use_warn
(Bool, default:False
):If this parameter is enabled, diagnostic messages on failure is displayed on
WARN
level instead ofERROR
level.