https://github.com/micro-ros/micro_ros_diagnostics
Diagnostics framework for micro-ROS
https://github.com/micro-ros/micro_ros_diagnostics
Last synced: 12 months ago
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Diagnostics framework for micro-ROS
- Host: GitHub
- URL: https://github.com/micro-ros/micro_ros_diagnostics
- Owner: micro-ROS
- License: apache-2.0
- Created: 2020-12-11T08:08:19.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2025-06-03T09:54:24.000Z (12 months ago)
- Last Synced: 2025-06-03T20:29:05.708Z (12 months ago)
- Language: C
- Size: 199 KB
- Stars: 9
- Watchers: 4
- Forks: 8
- Open Issues: 9
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
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General information about this repository, including legal information, build instructions and known issues/limitations, can be found in the [README](./README.md) of the repository root.
# The micro-ROS diagnostics framework packages
This [ROS 2](https://index.ros.org/doc/ros2/) package provides a simple diagnostics framework for micro-ROS, built against rclc:
* [micro_ros_diagnostic_msgs](./micro_ros_diagnostic_msgs/) - Diagnostic messages suited for micro-ROS, e.g., no use of arrays
* [micro_ros_diagnostic_updater](./micro_ros_diagnostic_updater/) - rclc convenience functions for diagnostic updaters, publishing micro-ROS diagnostic messages
* [micro_ros_common_diagnostics](./micro_ros_common_diagnostics/) - Micro-controller specific monitors
* [micro_ros_diagnostic_bridge](./micro_ros_diagnostic_bridge/) - rclcpp package to translate micro-ROS diagnostic massages to vanilla ROS 2 diagnostic messages
The micro-ROS diagnostics packages do not provide any aggregator as we assume that such aggregation takes place on a microprocessor running standard ROS 2. Hence, we assume the following typical architecture:
In order for the standard ROS 2 diagnostic aggregator to aggregate micro-ROS diagnostic message types, the ROS 2 bridge translates micro-ROS diagnostic messages to standard ROS 2 diagnostic messages.
## Purpose of the Project
This software is not ready for production use. It has neither been developed nor
tested for a specific use case. However, the license conditions of the
applicable Open Source licenses allow you to adapt the software to your needs.
Before using it in a safety relevant setting, make sure that the software
fulfills your requirements and adjust it according to any applicable safety
standards, e.g., ISO 26262.
## How to Build, Test, Install, and Use
After you cloned this repository into your ROS 2 workspace folder, you may build and install it using colcon:
$ `colcon build --packages-select-regex micro_ros_.*diagn`
In a typical architecture indicated above, you will need to build the packages
[micro_ros_diagnostic_msgs](./micro_ros_diagnostic_msgs/),
[micro_ros_diagnostic_updater](./micro_ros_diagnostic_updater/), and
[micro_ros_common_diagnostics](./micro_ros_common_diagnostics/) (optional) on the microcontroller. Build the packages
[micro_ros_diagnostic_msgs](./micro_ros_diagnostic_msgs/) and
[micro_ros_diagnostic_bridge](./micro_ros_diagnostic_bridge/) on the micro processor next to the micro-ROS agent.
## Running the example ##
The examples can be used as a usage reference. You'll find an [example launch configuration](micro_ros_diagnostic_bridge/example/launch/example_diagnostic_bridge.launch.py) on the micro_ros_diagnostic_bridge. This example can be run along the examples available in the [micro_ros_diagnostic_updater package](micro_ros_diagnostic_updater).
First, build both packages with the examples enabled
```
colcon build --cmake-args -DMICRO_ROS_DIAGNOSTIC_BRIDGE_EXAMPLES=ON -DMICRO_ROS_DIAGNOSTIC_UPDATER_EXAMPLES=ON
```
You'll need three (or four) terminals for the second step. On the first one, source your `setup.sh` and launch the example bridge
```
. install/setup.sh
ros2 launch micro_ros_diagnostic_bridge example_diagnostic_bridge.launch.py
```
On the second terminal, source `setup.sh` and run the [processor info example](../micro_ros_diagnostic_updater/example/example_processor_updater.c)
```
. install/setup.sh
ros2 run micro_ros_diagnostic_updater example_processor_updater
```
Lastly, on the third terminal, see the diagnostic messages
```
. install/setup.sh
ros2 topic echo /diagnostics
```
You can open a fourth terminal and run the [website checker example](../micro_ros_diagnostic_updater/example/example_website_checker.c)
## License
The micro-ROS diagnostics framework packages are open-sourced under the Apache-2.0 license. See the [LICENSE](LICENSE) file for details.
For a list of other open-source components included in ROS 2 system_modes,
see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
## Known Issues/Limitations
Please notice the following issues/limitations:
1. Due to limitations in the Micro-ROS agent, the micro-ROS diagnostics framework can't (yet) publish the default ROS 2 diagnostic messages [diagnostic_msgs](https://github.com/ros2/common_interfaces/tree/master/diagnostic_msgs), but provides simplified versions of the diagnostic messages and services that go without arrays, [MicroROSDiagnosticStatus](./micro_ros_diagnostic_msgs/msg/MicroROSDiagnosticStatus.msg) and [MicroROSSelfTest](./micro_ros_diagnostic_msgs/srv/MicroROSSelfTest.srv). These simplified messages and services will have to be translated by the agent or a 3rd party.
## Acknowledgments
This activity has received funding from the European Research Council (ERC) under the European Union's Horizon 2020 research and innovation programme (grant agreement n° 780785).