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feat(omron_node): diagnostics for frequency #14

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Apr 12, 2018
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feat(omron_node): diagnostics for frequency #14

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863f9dc
feat(omron_node): diagnostics for frequency
Feb 5, 2018
ee2e1a3
Use diagnosed publisher
Feb 5, 2018
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4 changes: 2 additions & 2 deletions omron_os32c_driver/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
cmake_minimum_required(VERSION 2.8.3)
project(omron_os32c_driver)

find_package(catkin REQUIRED COMPONENTS odva_ethernetip roscpp sensor_msgs)
find_package(catkin REQUIRED COMPONENTS diagnostic_updater odva_ethernetip roscpp sensor_msgs)

find_package(Boost 1.47 REQUIRED COMPONENTS system)

catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS odva_ethernetip roscpp sensor_msgs
CATKIN_DEPENDS diagnostic_updater odva_ethernetip roscpp sensor_msgs
LIBRARIES omron_os32c
DEPENDS Boost
)
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1 change: 1 addition & 0 deletions omron_os32c_driver/package.xml
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Expand Up @@ -11,6 +11,7 @@
<buildtool_depend>catkin</buildtool_depend>

<depend>boost</depend>
<depend>diagnostic_updater</depend>
<depend>odva_ethernetip</depend>
<depend>roscpp</depend>
<depend>sensor_msgs</depend>
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14 changes: 14 additions & 0 deletions omron_os32c_driver/src/os32c_node.cpp
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Expand Up @@ -26,6 +26,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI

#include <ros/ros.h>
#include <boost/shared_ptr.hpp>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/update_functions.h>
#include <sensor_msgs/LaserScan.h>

#include "odva_ethernetip/socket/tcp_socket.h"
Expand All @@ -41,6 +43,8 @@ using eip::socket::TCPSocket;
using eip::socket::UDPSocket;
using namespace omron_os32c_driver;

double RATE = 12.856;
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Parameterize the expected rate and permitted deviation, please.

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Ok, any suggestions for naming?

  • ~expected_frequency (default=12.856)
  • ~frequency_tolerance (default=0.1)
  • ~timestamp_min_acceptable (default=-1)
  • ~timestamp_max_acceptable (default=5)


int main(int argc, char *argv[])
{
ros::init(argc, argv, "os32c");
Expand All @@ -57,6 +61,12 @@ int main(int argc, char *argv[])
// publisher for laserscans
ros::Publisher laserscan_pub = nh.advertise<LaserScan>("scan", 1);

// diagnostics for frequency, monitor with 0.1 tolerance
diagnostic_updater::Updater updater;
updater.setHardwareID(host);
diagnostic_updater::FrequencyStatus frequency_status(diagnostic_updater::FrequencyStatusParam(&RATE, &RATE));
updater.add(frequency_status);

boost::asio::io_service io_service;
shared_ptr<TCPSocket> socket = shared_ptr<TCPSocket>(new TCPSocket(io_service));
shared_ptr<UDPSocket> io_socket = shared_ptr<UDPSocket>(new UDPSocket(io_service, 2222));
Expand Down Expand Up @@ -113,6 +123,10 @@ int main(int argc, char *argv[])
laserscan_msg.header.seq++;
laserscan_pub.publish(laserscan_msg);

// Tick the frequency and update the diagnostics
frequency_status.tick();
updater.update();
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Any reason to do this separately vs. using DiagnosedPublisher?

http://docs.ros.org/api/diagnostic_updater/html/classdiagnostic__updater_1_1DiagnosedPublisher.html

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@reinzor reinzor Feb 5, 2018 •
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Thanks for the review, I was not aware of the DiagnosedPublisher, I will refactor this to the diagnosed publisher


// Every tenth message received, send the keepalive message in response.
// TODO: Make this time-based instead of message-count based.
if (++ctr > 10)
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