| 302 | stat.summary(level, msg); |
| 303 | } |
| 304 | void distance_topic_checker(diagnostic_updater::DiagnosticStatusWrapper & stat) |
| 305 | { |
| 306 | rclcpp::Time ros_clock(distance.header.stamp); |
| 307 | auto distance_time = ros_clock.seconds(); |
| 308 | |
| 309 | int8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; |
| 310 | std::string msg = "OK"; |
| 311 | |
| 312 | if (distance_time_last == distance_time) { |
| 313 | level = diagnostic_msgs::msg::DiagnosticStatus::WARN; |
| 314 | msg = "not subscribed to topic"; |
| 315 | } |
| 316 | else if (!std::isfinite(distance.distance)) { |
| 317 | level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; |
| 318 | msg = "invalid number"; |
| 319 | } |
| 320 | else if (!distance.status.enabled_status) { |
| 321 | level = diagnostic_msgs::msg::DiagnosticStatus::WARN; |
| 322 | msg = "estimates have not started yet"; |
| 323 | } |
| 324 | |
| 325 | distance_time_last = distance_time; |
| 326 | stat.summary(level, msg); |
| 327 | } |
| 328 | void heading_1st_topic_checker(diagnostic_updater::DiagnosticStatusWrapper & stat) |
| 329 | { |
| 330 | rclcpp::Time ros_clock(heading_1st.header.stamp); |
nothing calls this directly
no outgoing calls
no test coverage detected