Planning Evaluator#
Purpose#
This package provides a node to convert diagnostic_msgs::msg::DiagnosticArray messages
into tier4_simulation_msgs::msg::UserDefinedValue messages.
Inner-workings / Algorithms#
The node subscribes to all topics listed in the parameters and assumes they publish
DiagnosticArray messages.
Each time such message is received,
it is converted into as many UserDefinedValue messages as the number of KeyValue objects.
The format of the output topic is detailed in the output section.
Inputs / Outputs#
Inputs#
The node listens to DiagnosticArray messages on the topics specified in the parameters.
Outputs#
The node outputs UserDefinedValue messages that are converted from the received DiagnosticArray.
The name of the output topics are generated from the corresponding input topic, the name of the diagnostic status, and the key of the diagnostic.
For example, we might listen to topic /diagnostic_topic and receive a DiagnosticArray with 2 status:
- Status with
name: "x".- Key:
a. - Key:
b.
- Key:
- Status with
name: "y".- Key:
a. - Key:
c.
- Key:
The resulting topics to publish the UserDefinedValue are as follows:
/metrics_x_a./metrics_x_b./metrics_y_a./metrics_y_c.
Parameters#
| Name | Type | Description |
|---|---|---|
diagnostic_topics |
list of string |
list of DiagnosticArray topics to convert to UserDefinedValue |
Assumptions / Known limits#
Values in the KeyValue objects of a DiagnosticStatus are assumed to be of type double.