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norro merged 4 commits into from
Feb 19, 2021
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Updated diagnostics architecture description #285

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32110c0
Improved uros diagn arch diagram
norro Feb 10, 2021
ff18054
Mention necessary translation of diagn msgs
norro Feb 10, 2021
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Minor img improvement
norro Feb 10, 2021
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Update _docs/concepts/client_library/diagnostics/index.md
norro Feb 19, 2021
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10 changes: 6 additions & 4 deletions _docs/concepts/client_library/diagnostics/index.md
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Expand Up @@ -5,14 +5,16 @@ permalink: /docs/concepts/client_library/diagnostics/

Although diagnostics is not part of the ROS 2 Client Library packages (i.e., rclcpp, rclpy), it definitely can be counted to the extended client library as it provides very generic and application-independent functionalities.

That's why the micro-ROS Client Library also comes with basic diagnostics functionalities. These are compatible with ROS 2 diagnostics, but comprise three features only:
That's why the micro-ROS Client Library comes with basic diagnostics functionalities. These are compatible with ROS 2 diagnostics and comprise three features only:

* Diagnostic message types (optimized for Micro-XRCE-DDS - no dynamic arrays)
* Updater mechanisms for rclc
* Selected basic diagnostic monitors
* Selected basic diagnostic monitors for microcontrollers

The micro-ROS diagnostics packages do not provide any aggregation mechanisms as we assume that such aggregation takes place on a microprocessor running standard ROS 2. Hence, we assume the following typical architecture:
The micro-ROS diagnostics packages do not provide any aggregator as we assume that such aggregation takes place on a microprocessor running standard ROS 2. Hence, we assume the following typical architecture:

<img src="diagnostics_architecture.png" style="display:block; width:60%; margin-left:auto; margin-right:auto;"/>

For more information, please see [https://github.com/micro-ROS/micro_ros_diagnostics/](https://github.com/micro-ROS/micro_ros_diagnostics/).
In order for the standard ROS 2 diagnostic aggregator to aggregate micro-ROS diagnostic message types, the ROS 2 agent has to translate micro-ROS diagnostic messages to standard ROS 2 diagnostic messages (*tbd*).

For more information, please see [https://github.com/micro-ROS/micro_ros_diagnostics/](https://github.com/micro-ROS/micro_ros_diagnostics/). For further information on ROS 2 diagnostics, see [ROS 2 diagnostics](https://github.com/ros/diagnostics/tree/ros2-devel) and [ROS 2 diagnostic_msgs](https://github.com/ros2/common_interfaces/tree/master/diagnostic_msgs).