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 outputs diagnostics at WARN level (if ~use_warn is True) or ERROR level.

  • ~use_warn (Bool, default: False):

    If this parameter is enabled, diagnostic messages on failure is displayed on WARN level instead of ERROR level.