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Package Overview

diagnostics_handler is a tabpage handler for the touchosc_bridge package. It provides an interface to the diagnostics and diagnostics_agg topics that many pieces of hardware utilize. It gives an at-a-glance look at the status of hardware and software systems on your robot.

This package includes layouts for both iPad and iPhone-sized devices in the diagnostics_handler/layouts directory. When launched, the node will respond to incoming OSC messages from both sized layouts.

Video Demo

Screenshots

iPod Sized

iPad Sized

Features

Some of the main features of the diagnostics_handler. These features may be seen in the above YouTube video.

• Multiple client support
• Support for /diagnostics and /diagnostics_agg topics
  • Key/Value portion of message displayable
  • Nested message support with [diagnostics_aggregator] properly configured
• System status LED
• Shows current ROS time (iPad only)

Configuration

Example launch and configuration files are included for the diagnostics_handler in it's package directory. Also, an example diagnostics.yaml file is included below. This file should be loaded to the Parameter Server using your configured .launch file.

# Handler specific information
diagnostics:
  # Required parameters
  pkg: diagnostics_handler
  class: 'diagnosticstabpage/DiagnosticsTabpageHandler'
 
  start_topic: '/diagnostics'

More details on configuring launch files for touchosc_bridge can be found in the rososc_tutorials and in the touchosc_bridge package documentation.

<launch>
    <node pkg="touchosc_bridge" type="touchosc_bridge.py" name="touchosc_bridge" output="screen">
        <param name="osc_name" value="ROS Diagnostics"/>
        <param name="port" value="10000" />
        <param name="print_fallback" value="False"/>
        <param name="load_default" value="False"/>
        <rosparam param="handlers">[diagnostics]</rosparam>
        <rosparam command="load" file="$(find diagnostics_handler)/cfg/diagnostics.yaml" />
    </node>
</launch>

DiagnosticsTabpageHandler

Tabpage Handler to be used with touchosc_bridge

Subscribed Topics

diagnostics (diagnostic_msgs/DiagnosticArray)

• Raw diagnostics information from the various hardware and software systems on the robot.

diagnostics_agg (diagnostic_msgs/DiagnosticArray)

• Aggregated diagnostics information

Parameters

~<tabpage>/start_topic (string, default: /diagnostics)

• '/diagnostics' or '/diagnostics_agg', the topic that the tabpage will initialize to.