ros2_control broadcaster that publishes selected hardware interfaces for diagnostics

Diagnostic broadcaster

Operating system

https://releases.ubuntu.com/jammy/

Dependencies (all for humble)

• ros2_control
• ros2_controllers
• generate_parameters_library

Installation

• git clone https://github.com/KNR-PW/LRT_diagnostic_broadcaster.git
• colcon build --packages-up-to diagnostics --cmake-args -DCMAKE_BUILD_TYPE=Release

Selecting interfaces

Important

You need to put your interfaces and joints in /include/diagnostic_broadcaster/diagnostic_broadcaster.hpp in their respective string arrays joint_names_ and interface_names

Warning

For new interfaces you need to update diagnostic_msgs/diagnotics.msg by adding new variable and diagnostic_broadcaster/src/diagnostic_broadcaster.cpp where you add new line in init_joint_data() function (read the comments for more information).

Note

For joint_names_ = {"joint1", "joint2"} interface_names = {temperature} broadcasted will be interfaces "joint1/temperature" and "joint2/temperature"

Parameters

This broadcaster uses generate_parameters_library to handle parameters. You can specify which joints and interfaces you want to be broadcasted.

Diagnostic parameters example:

diagnostic_broadcaster:
  joint_names:
    - "joint_name_1"
    - "joint_name_2"
    - "joint_name_3"

  interface_names:
    - "temperature"
    - "motor_effort"
    - "fault"

  interface_params:
    temperature:
      update_threshold: 0.1
    motor_effort:
      update_threshold: 0.1

Parameters description

• joint_names - Names of joints [string]
• interface_names - Names of diagnostic interfaces [string]
• interface_params - Parameters mapped to interfaces
  • update_threshold - When interface (currently temperature and motor_effort) values change by this amount, this will be noticed [double]

Note

By specifying which joints should be broadcasted state_interfaces_config.type changes from controller_interface::interface_configuration_type::ALL to controller_interface::interface_configuration_type::INDIVIDUAL;.

update_treshold parameter is currently used for setting up data update threshold for temperature and motor_effort interfaces