General information about this repository, including legal information, build instructions and known issues/limitations, can be found in the README of the repository root.
This ROS 2 package provides a simple diagnostics framework for micro-ROS, built against rclc:
- micro_ros_diagnostic_msgs - Diagnostic messages suited for micro-ROS, e.g., no use of arrays
- micro_ros_diagnostic_updater - rclc convenience functions for diagnostic updaters, publishing micro-ROS diagnostic messages
- micro_ros_common_diagnostics - Micro-controller specific monitors
- 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.
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.
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_updater, and micro_ros_common_diagnostics (optional) on the microcontroller. Build the packages micro_ros_diagnostic_msgs and micro_ros_diagnostic_bridge on the micro processor next to the micro-ROS agent.
The examples can be used as a usage reference. You'll find an example launch configuration on the micro_ros_diagnostic_bridge. This example can be run along the examples available in the micro_ros_diagnostic_updater package.
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
. 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
The micro-ROS diagnostics framework packages are open-sourced under the Apache-2.0 license. See the 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.
Please notice the following issues/limitations:
- 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, but provides simplified versions of the diagnostic messages and services that go without arrays, MicroROSDiagnosticStatus and MicroROSSelfTest. These simplified messages and services will have to be translated by the agent or a 3rd party.
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).