jsk_topic_tools: add option to set diangostic level

jsk_topic_tools: update doc for jsk_topic_tools nodelet classes

doc/jsk_topic_tools/class/connection_based_nodelet.md

@@ -10,6 +10,10 @@ This base-class is being deprecated and replaced by `nodelet_topic_tools::Nodele
 This class is a base-class which can start subscribing topics if published topics are subscribed by the other node.
 This is abstruct class.
 
+## Note
+
+Each subclass of this class must call `onInitPostProcess` in the last line `onInit`.
+
 ## Parameter
 - `~use_multithread_callback` (Bool, default: `true`):
 

doc/jsk_topic_tools/class/diagnostic_nodelet.md

@@ -4,10 +4,24 @@
 
 This class is a subclass of [`ConnectionBasedNodelet`](connection_based_nodelet.html).
 Instances of this class can publish diagnostics messages.
-This is abstruct class.
+This is an abstruct class.
+
+## Note
+
+Each subclass of this class is required to call `vital_checker_->poke()` on all callback functions so that this class can check the health of the functionality of the nodelet.
 
 ## Publishing Topic
+
 - `~diagnostics` (`diagnostic_msgs::DiagnosticArray`):
 
+    Diagnostic messages
+
 ## Parameter
 - `~vital_rate` (Double, default: `0.1`):
+
+    Rate to determine if the nodelet is in health.
+    If the rate that the callback functions is below this parameter, error messages are displayed on diagnostics.
+
+- `~use_warning` (Bool, default: `False`):
+
+    If this parameter is enabled, diagnostic messages on failure is displayed on `WARN` level instead of `ERROR` level.

jsk_topic_tools/include/jsk_topic_tools/diagnostic_nodelet.h

@@ -110,6 +110,12 @@ namespace jsk_topic_tools
      */
     jsk_topic_tools::VitalChecker::Ptr vital_checker_;
 
+    /** @brief
+     * True if summary is displayed as 'Warnings', otherwise it is displayed as 'Errors'
+     */
+    uint8_t diagnostic_error_level_;
+
+
   private:
 
   };

jsk_topic_tools/include/jsk_topic_tools/diagnostic_utils.h

@@ -58,7 +58,8 @@ namespace jsk_topic_tools
   void addDiagnosticErrorSummary(
     const std::string& string_prefix,
     jsk_topic_tools::VitalChecker::Ptr vital_checker,
-    diagnostic_updater::DiagnosticStatusWrapper& stat);
+    diagnostic_updater::DiagnosticStatusWrapper& stat,
+    const uint8_t error_level = diagnostic_msgs::DiagnosticStatus::ERROR);
 
   ////////////////////////////////////////////////////////
   // add Boolean string to stat

jsk_topic_tools/src/diagnostic_nodelet.cpp

@@ -55,6 +55,19 @@ namespace jsk_topic_tools
         &DiagnosticNodelet::updateDiagnostic,
         this,
         _1));
+
+    bool use_warn;
+    nh_->param("/diagnostic_nodelet/use_warn", use_warn, false);
+    if (pnh_->hasParam("use_warn")) {
+      pnh_->getParam("use_warn", use_warn);
+    }
+    if (use_warn)
+    {
+      diagnostic_error_level_ = diagnostic_msgs::DiagnosticStatus::ERROR;
+    } else {
+      diagnostic_error_level_ = diagnostic_msgs::DiagnosticStatus::WARN;
+    }
+
     double vital_rate;
     pnh_->param("vital_rate", vital_rate, 1.0);
     vital_checker_.reset(
@@ -72,7 +85,7 @@ namespace jsk_topic_tools
       }
       else {
         jsk_topic_tools::addDiagnosticErrorSummary(
-          name_, vital_checker_, stat);
+            name_, vital_checker_, stat, diagnostic_error_level_);
       }
     }
     else {

jsk_topic_tools/src/diagnostic_utils.cpp

@@ -55,10 +55,11 @@ namespace jsk_topic_tools
   void addDiagnosticErrorSummary(
     const std::string& string_prefix,
     jsk_topic_tools::VitalChecker::Ptr vital_checker,
-    diagnostic_updater::DiagnosticStatusWrapper& stat)
+    diagnostic_updater::DiagnosticStatusWrapper& stat,
+    const uint8_t error_level)
   {
     stat.summary(
-      diagnostic_msgs::DiagnosticStatus::ERROR,
+      error_level,
       (boost::format("%s not running for %f sec")
        % string_prefix % vital_checker->deadSec()).str());
   }