From 96be74ff1a05a2193a993250da5aecc2c0b15356 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Mon, 14 Feb 2022 09:53:33 +0100
Subject: [PATCH] Added general diagnostic agregator
---
README.md | 1 +
config/collision_analyzers.yaml | 20 ++++++++++++++++++++
launch/collisions.launch | 14 ++++++++++++--
3 files changed, 33 insertions(+), 2 deletions(-)
create mode 100644 config/collision_analyzers.yaml
diff --git a/README.md b/README.md
index b963fc7..eca193b 100644
--- a/README.md
+++ b/README.md
@@ -198,6 +198,7 @@ This node provides the following launch files:
- *launch_prefix*: Ros node launch launch-prefix's parameter.
- *dr*: Boolean to launch rqt_reconfigure.
- *diagnostics*: Flag to launch diagnostics agregator.
+ - *diagnostics_agregator_config_file*: Diagnostic agregator config file.
- *sim_time*: Boolean to set */use_sim_time* parameter.
- *imu_driver*: Boolean to launch the IMU driver.
diff --git a/config/collision_analyzers.yaml b/config/collision_analyzers.yaml
new file mode 100644
index 0000000..00921f5
--- /dev/null
+++ b/config/collision_analyzers.yaml
@@ -0,0 +1,20 @@
+pub_rate: 1.0
+analyzers:
+ collision_detection:
+ type: diagnostic_aggregator/GenericAnalyzer
+ path: collision_detection
+ contains: [
+ 'imu',
+ 'collision',
+ 'odom']
+ ICP_check:
+ type: diagnostic_aggregator/GenericAnalyzer
+ path: icp_check
+ contains: [
+ 'odom',
+ 'laser']
+ bias_filter:
+ type: diagnostic_aggregator/GenericAnalyzer
+ path: bias_filter
+ contains: [
+ 'bias']
diff --git a/launch/collisions.launch b/launch/collisions.launch
index 506cacd..69f5c41 100644
--- a/launch/collisions.launch
+++ b/launch/collisions.launch
@@ -8,6 +8,7 @@
<param name="/use_sim_time" value="$(arg sim_time)" />
<arg name="imu_driver" default="true"/>
<arg name="diagnostics" default="true"/>
+ <arg name="diagnostics_agregator_config_file" default="$(find iri_collision_manager)/config/collision_analyzers.yaml" />
<!-- IMU driver parameters -->
<arg name="imu_config_file" default="$(find iri_collision_manager)/config/bno055.yaml" />
@@ -47,7 +48,7 @@
<arg name="imu_topic_out" value="$(arg imu_filtered_topic)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="update_bias_ns" value="$(arg update_bias_ns)"/>
- <arg name="diagnostics" value="$(arg diagnostics)"/>
+ <arg name="diagnostics" value="false"/>
</include>
<include file="$(find iri_laser_scan_icp)/launch/node.launch">
@@ -68,7 +69,7 @@
<arg name="rear_laser_topic" value="$(arg rear_laser_topic)"/>
<arg name="icp_service_name" value="$(arg icp_service_name)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
- <arg name="diagnostics" value="$(arg diagnostics)"/>
+ <arg name="diagnostics" value="false"/>
</include>
@@ -79,4 +80,13 @@
args="iri_collision_manager">
</node>
+ <node pkg="diagnostic_aggregator"
+ type="aggregator_node"
+ name="collision_diagnostic_aggregator"
+ if ="$(arg diagnostics)">
+ <!-- Load the file you made above -->
+ <rosparam command="load"
+ file="$(find iri_collision_manager)/config/collision_analyzers.yaml" />
+ </node>
+
</launch>
--
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