Adding the diagnostics bridge to the flowstate_ros_bridge package#83
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JCarosella wants to merge 8 commits intointrinsic-ai:mainfrom
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Adding the diagnostics bridge to the flowstate_ros_bridge package#83JCarosella wants to merge 8 commits intointrinsic-ai:mainfrom
JCarosella wants to merge 8 commits intointrinsic-ai:mainfrom
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JCarosella
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Jan 8, 2026
Yadunund
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Jan 9, 2026
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Thanks for working on this! Left a high level comment to avoid API breaking changes for now. Will do a deeper review after addressing this change.
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Signed-off-by: JCarosella <juancarosella96@ekumenlabs.com>
Signed-off-by: JCarosella <juancarosella96@ekumenlabs.com>
… bridge API Signed-off-by: JCarosella <juancarosella96@ekumenlabs.com>
Signed-off-by: JCarosella <juancarosella96@ekumenlabs.com>
…arify configuration usage
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b-corry
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Minor comments, otherwise LGTM
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| auto params_interface = ros_node_interfaces.get<rclcpp::node_interfaces::NodeParametersInterface>(); | ||
| diagnostics_pub_ = rclcpp::create_publisher<diagnostic_msgs::msg::DiagnosticArray>( | ||
| params_interface, | ||
| topics_interface, | ||
| "/diagnostics", rclcpp::SystemDefaultsQoS()); |
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Potential enhancement: we can add optional remapping for topic names like /diagnostics. This could exist as a new remap proto message which is passed into the service config and propogated to the node options when starting the flowstate_ros_bridge.
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| // Add key-value pairs for more detail. | ||
| diagnostic_msgs::msg::KeyValue kv_state; | ||
| kv_state.key = "Platform State"; |
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Perhaps this could get moved to a const at top of the file.
Signed-off-by: JCarosella <juancarosella96@ekumenlabs.com>
Signed-off-by: JCarosella <juancarosella96@ekumenlabs.com>
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Summary
Adds the full diagnostics workflow to the ROS bridge, reading diagnostics information from Flowstate and publishing to ROS 2. The project builds and bundles correctly with the flowstate ros bridge service scripts.
Principal changes
Installation and testing
This will produce a tarball in a new
imagesdirectory at the same level of thesrcdirectory.Create a solution and add the service or add it to an existing solution
Test the new ROS 2 diagnostics topic by trying to subscribe to the
/diagnosticstopic.Result
Diagnostics feature is fully integrated and compiles successfully. New diagnostics bridge publishes correctly to ROS 2. This is the output of a test I ran locally with a solution deployed to an IPC:
Testing information here: #88 (comment)