Use correct clock upstream

.github/workflows/lint.yaml

@@ -3,7 +3,7 @@ on:
   pull_request:
   push:
     branches:
-      - ros2
+      - ros2-humble
   schedule:
     # Run every week at 20:00 on Sunday
     - cron: "0 20 * * 0"
@@ -22,18 +22,30 @@ jobs:
             uncrustify,
             xmllint,
           ]
-    runs-on: ubuntu-latest
+        include:
+          - distro: humble
+            os: ubuntu-22.04
+    runs-on: ${{ matrix.os }}
     env:
       AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
     steps:
       - uses: actions/checkout@v1
       - uses: ros-tooling/setup-ros@master
-      - run: sudo pip install pydocstyle==6.1.1  # downgrade to fix https://github.com/ament/ament_lint/pull/428
+        with:
+          required-ros-distributions: ${{ matrix.distro }}
       - uses: ros-tooling/action-ros-lint@master
         with:
           linter: ${{ matrix.linter }}
           package-name: |
             diagnostic_aggregator
             diagnostic_common_diagnostics
+            diagnostic_remote_logging
             diagnostic_updater
             self_test
+
+  check_licenses:
+    name: Check licenses
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: boschresearch/ros_license_toolkit@2.0.1

.github/workflows/test.yaml

@@ -3,7 +3,7 @@ on:
   pull_request:
   push:
     branches:
-      - ros2
+      - ros2-humble
   schedule:
     # Run every week at 20:00 on Sunday
     - cron: "0 20 * * 0"
@@ -14,25 +14,22 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        package:
-          [
+        package: [
             diagnostic_aggregator,
             diagnostic_common_diagnostics,
+            diagnostic_remote_logging,
             diagnostic_updater,
             self_test,
           ]
-        distro: [humble, iron, rolling]
         include:
           - distro: humble
             os: 22.04
-          - distro: iron
-            os: 22.04
-          - distro: rolling
-            os: 24.04
     runs-on: ubuntu-latest
     container: ubuntu:${{ matrix.os }}
     steps:
       - uses: ros-tooling/setup-ros@master
+        with:
+          required-ros-distributions: ${{ matrix.distro }}
       - uses: ros-tooling/action-ros-ci@master
         with:
           target-ros2-distro: ${{ matrix.distro }}

diagnostic_aggregator/CHANGELOG.rst

@@ -2,6 +2,25 @@
 Changelog for package diagnostic_aggregator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.2 (2025-02-10)
+------------------
+* Checking licenses in CI (`#431 <https://github.com/ros/diagnostics/issues/431>`_) (`#432 <https://github.com/ros/diagnostics/issues/432>`_)
+  * Checking licenses in ci
+* Add Windows support (`#426 <https://github.com/ros/diagnostics/issues/426>`_) (`#428 <https://github.com/ros/diagnostics/issues/428>`_)
+  Co-authored-by: Silvio Traversaro <silvio@traversaro.it>
+* Support custom `rclcpp::NodeOptions` (`#417 <https://github.com/ros/diagnostics/issues/417>`_) (`#422 <https://github.com/ros/diagnostics/issues/422>`_)
+  * Support custom `rclcpp::NodeOptions`   This eases static composition of multiple ROS 2 nodes
+  Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com>
+* Skipping flaky tests (`#413 <https://github.com/ros/diagnostics/issues/413>`_) (`#414 <https://github.com/ros/diagnostics/issues/414>`_)
+  * skipping flaky ntp test
+* Contributors: Christian Henkel
+
+3.2.1 (2024-06-27)
+------------------
+* Add add_analyzer functionality (`#329 <https://github.com/ros/diagnostics/issues/329>`_) (`#359 <https://github.com/ros/diagnostics/issues/359>`_)
+* Aggregator: publish diagnostics_toplevel_state immediately on every degradation (`#324 <https://github.com/ros/diagnostics/issues/324>`_) (`#355 <https://github.com/ros/diagnostics/issues/355>`_)
+* Contributors: Christian Henkel
+
 3.2.0 (2024-03-22)
 ------------------
 * Avoid rolling up an ERROR state when empty GenericAnalyzer blocks are marked discard_stale, or when all of their items are STALE. (`#315 <https://github.com/ros/diagnostics/issues/315>`_)

diagnostic_aggregator/CMakeLists.txt

@@ -9,11 +9,13 @@ endif()
 if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 
 find_package(ament_cmake REQUIRED)
 find_package(diagnostic_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rcl_interfaces REQUIRED)
 find_package(std_msgs REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED
@@ -67,6 +69,10 @@ add_executable(aggregator_node src/aggregator_node.cpp)
 target_link_libraries(aggregator_node
   ${PROJECT_NAME})
 
+# Add analyzer
+add_executable(add_analyzer src/add_analyzer.cpp)
+ament_target_dependencies(add_analyzer rclcpp rcl_interfaces)
+
 # Testing macro
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -77,6 +83,7 @@ if(BUILD_TESTING)
   find_package(launch_testing_ament_cmake REQUIRED)
 
   file(TO_CMAKE_PATH "${CMAKE_INSTALL_PREFIX}/lib/${PROJECT_NAME}/aggregator_node" AGGREGATOR_NODE)
+  file(TO_CMAKE_PATH "${CMAKE_INSTALL_PREFIX}/lib/${PROJECT_NAME}/add_analyzer" ADD_ANALYZER)
   file(TO_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/test/test_listener.py" TEST_LISTENER)
   set(create_analyzers_tests
     "primitive_analyzers"
@@ -124,22 +131,50 @@ if(BUILD_TESTING)
     )
   endforeach()
 
-  add_launch_test(
-    test/test_critical_pub.py
-    TIMEOUT 30
-  )
+  set(add_analyzers_tests
+  "all_analyzers")
+
+  foreach(test_name ${add_analyzers_tests})
+    file(TO_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/test/default.yaml" PARAMETER_FILE)
+    file(TO_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/test/${test_name}.yaml" ADD_PARAMETER_FILE)
+    file(TO_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/test/expected_output/add_${test_name}" EXPECTED_OUTPUT)
 
-  ament_add_pytest_test(test_discard_behavior
-    "${CMAKE_CURRENT_SOURCE_DIR}/test/test_discard_behavior.py"
-    TIMEOUT 60
-  )
+    configure_file(
+      "test/add_analyzers.launch.py.in"
+      "test_add_${test_name}.launch.py"
+      @ONLY
+    )
+    add_launch_test(
+      "${CMAKE_CURRENT_BINARY_DIR}/test_add_${test_name}.launch.py"
+      TARGET "test_add_${test_name}"
+      TIMEOUT 30
+      ENV
+    )
+  endforeach()
+
+  # SKIPPING FLAKY TEST
+  # add_launch_test(
+  #   test/test_critical_pub.py
+  #   TIMEOUT 30
+  # )
+
+  # SKIPPING FLAKY TEST
+  # ament_add_pytest_test(test_discard_behavior
+  #   "${CMAKE_CURRENT_SOURCE_DIR}/test/test_discard_behavior.py"
+  #   TIMEOUT 60
+  # )
 endif()
 
 install(
   TARGETS aggregator_node
   DESTINATION lib/${PROJECT_NAME}
 )
 
+install(
+  TARGETS add_analyzer
+  DESTINATION lib/${PROJECT_NAME}
+)
+
 install(
   TARGETS ${PROJECT_NAME} ${ANALYZERS}
   EXPORT ${PROJECT_NAME}Targets
@@ -157,6 +192,7 @@ ament_python_install_package(${PROJECT_NAME})
 
 # Install Example
 set(ANALYZER_PARAMS_FILEPATH "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/example_analyzers.yaml")
+set(ADD_ANALYZER_PARAMS_FILEPATH "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/example_add_analyzers.yaml")
 configure_file(example/example.launch.py.in example.launch.py @ONLY)
 install( # launch descriptor
   FILES ${CMAKE_CURRENT_BINARY_DIR}/example.launch.py
@@ -167,7 +203,7 @@ install( # example publisher
   DESTINATION lib/${PROJECT_NAME}
 )
 install( # example aggregator configration
-  FILES example/example_analyzers.yaml
+  FILES example/example_analyzers.yaml example/example_add_analyzers.yaml
   DESTINATION share/${PROJECT_NAME}
 )
 

diagnostic_aggregator/README.md

@@ -135,6 +135,33 @@ You can launch the `aggregator_node` like this (see [example.launch.py.in](examp
     ])
 ```
 
+You can add analyzers at runtime using the `add_analyzer` node like this (see [example.launch.py.in](example/example.launch.py.in)):
+```
+    add_analyzer = launch_ros.actions.Node(
+        package='diagnostic_aggregator',
+        executable='add_analyzer',
+        output='screen',
+        parameters=[add_analyzer_params_filepath])
+    return launch.LaunchDescription([
+        add_analyzer,
+    ])
+```
+This node updates the parameters of the `aggregator_node` by calling the service `/analyzers/set_parameters_atomically`.
+The `aggregator_node` will detect when a `parameter-event` has introduced new parameters to it.
+When this happens the `aggregator_node` will reload all analyzers based on its new set of parameters.
+Adding analyzers this way can be done at runtime and can be made conditional.
+
+In the example, `add_analyzer` will add an analyzer for diagnostics that are marked optional:
+``` yaml
+/**:
+  ros__parameters:
+    optional:
+      type: diagnostic_aggregator/GenericAnalyzer
+      path: Optional
+      startswith: [ '/optional' ]
+```
+This will move the `/optional/runtime/analyzer` diagnostic from the "Other" to  "Aggregation" where it will not go stale after 5 seconds and will be taken into account for the toplevel state.
+
 # Basic analyzers
 The `diagnostic_aggregator` package provides a few basic analyzers that you can use to aggregate your diagnostics.
 

diagnostic_aggregator/example/README.md

@@ -1,5 +1,7 @@
 # Aggregator Example
 
-This is a simple example to show the diagnostic_aggregator in action. It involves one python script producing dummy diagnostic data ([example_pub.py](./example_pub.py)), and one diagnostic aggregator configuration ([example.yaml](./example.yaml)) that provides analyzers aggregating it.
+This is a simple example to show the diagnostic_aggregator and add_analyzer in action. It involves one python script producing dummy diagnostic data ([example_pub.py](./example_pub.py)), one diagnostic aggregator configuration ([example_analyzers.yaml](./example_analyzers.yaml)) and one add_analyzer configuration ([example_add_analyzers.yaml](./example_add_analyzers.yaml)).
+
+The aggregator will launch and load all the analyzers listed in ([example_analyzers.yaml](./example_analyzers.yaml)). Then the aggregator will be notified that there are additional analyzers that we also want to load in ([example_add_analyzers.yaml](./example_add_analyzers.yaml)). After this reload all analyzers will be active.
 
 Run the example with `ros2 launch diagnostic_aggregator example.launch.py`

diagnostic_aggregator/example/example.launch.py.in

@@ -4,6 +4,7 @@ import launch
 import launch_ros.actions
 
 analyzer_params_filepath = "@ANALYZER_PARAMS_FILEPATH@"
+add_analyzer_params_filepath = "@ADD_ANALYZER_PARAMS_FILEPATH@"
 
 
 def generate_launch_description():
@@ -12,11 +13,18 @@ def generate_launch_description():
         executable='aggregator_node',
         output='screen',
         parameters=[analyzer_params_filepath])
+    add_analyzer = launch_ros.actions.Node(
+        package='diagnostic_aggregator',
+        executable='add_analyzer',
+        output='screen',
+        parameters=[add_analyzer_params_filepath]
+    )
     diag_publisher = launch_ros.actions.Node(
         package='diagnostic_aggregator',
         executable='example_pub.py')
     return launch.LaunchDescription([
         aggregator,
+        add_analyzer,
         diag_publisher,
         launch.actions.RegisterEventHandler(
             event_handler=launch.event_handlers.OnProcessExit(

diagnostic_aggregator/example/example_add_analyzers.yaml

@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    optional:
+      type: diagnostic_aggregator/GenericAnalyzer
+      path: Optional
+      contains: [ '/optional' ]

diagnostic_aggregator/example/example_pub.py

@@ -81,6 +81,10 @@ def __init__(self):
                              name='/sensors/front/cam', message='OK'),
             DiagnosticStatus(level=DiagnosticStatus.OK,
                              name='/sensors/rear/cam', message='OK'),
+
+            # Optional
+            DiagnosticStatus(level=DiagnosticStatus.OK,
+                             name='/optional/runtime/analyzer', message='OK'),
         ]
 
     def timer_callback(self):

diagnostic_aggregator/include/diagnostic_aggregator/aggregator.hpp

@@ -111,6 +111,13 @@ class Aggregator
   DIAGNOSTIC_AGGREGATOR_PUBLIC
   Aggregator();
 
+  /*!
+   *\brief Constructor initializes with main prefix (ex: '/Robot') and custom node options
+   */
+  DIAGNOSTIC_AGGREGATOR_PUBLIC
+  explicit Aggregator(rclcpp::NodeOptions options);
+
+
   DIAGNOSTIC_AGGREGATOR_PUBLIC
   virtual ~Aggregator();
 
@@ -133,6 +140,8 @@ class Aggregator
   rclcpp::Service<diagnostic_msgs::srv::AddDiagnostics>::SharedPtr add_srv_;
   /// DiagnosticArray, /diagnostics
   rclcpp::Subscription<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr diag_sub_;
+  /// ParameterEvent, /parameter_events
+  rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr param_sub_;
   /// DiagnosticArray, /diagnostics_agg
   rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr agg_pub_;
   /// DiagnosticStatus, /diagnostics_toplevel_state
@@ -165,6 +174,16 @@ class Aggregator
   /// Records all ROS warnings. No warnings are repeated.
   std::set<std::string> ros_warnings_;
 
+  /*
+   *!\brief Checks for new parameters to trigger reinitialization of the AnalyzerGroup and OtherAnalyzer
+   */
+  void parameterCallback(const rcl_interfaces::msg::ParameterEvent::SharedPtr param_msg);
+
+  /*
+   *!\brief (re)initializes the AnalyzerGroup and OtherAnalyzer
+   */
+  void initAnalyzers();
+
   /*
    *!\brief Checks timestamp of message, and warns if timestamp is 0 (not set)
    */

diagnostic_aggregator/include/diagnostic_aggregator/analyzer.hpp

@@ -94,8 +94,7 @@ class Analyzer
   /*!
    *\brief Default constructor, called by pluginlib.
    */
-  Analyzer()
-  : clock_(std::make_shared<rclcpp::Clock>()) {}
+  Analyzer() {}
 
   virtual ~Analyzer() {}
 

diagnostic_aggregator/include/diagnostic_aggregator/generic_analyzer.hpp

@@ -229,6 +229,7 @@ class GenericAnalyzer : public GenericAnalyzerBase
   virtual bool match(const std::string & name);
 
 private:
+  rclcpp::Node::SharedPtr node_;
   std::vector<std::string> chaff_; /**< Removed from the start of node names. */
   std::vector<std::string> expected_;
   std::vector<std::string> startswith_;

diagnostic_aggregator/include/diagnostic_aggregator/generic_analyzer_base.hpp

@@ -101,14 +101,16 @@ class GenericAnalyzerBase : public Analyzer
    * Must be initialized in order to prepend the path to all outgoing status messages.
    */
   bool init(
-    const std::string & path, const std::string & breadcrumb, double timeout = -1.0,
+    const std::string & path, const std::string & breadcrumb,
+    const rclcpp::Node::SharedPtr node, double timeout = -1.0,
     int num_items_expected = -1, bool discard_stale = false)
   {
     num_items_expected_ = num_items_expected;
     timeout_ = timeout;
     path_ = path + "/" + nice_name_;
     discard_stale_ = discard_stale;
     breadcrumb_ = breadcrumb;
+    clock_ = node->get_clock();
 
     if (discard_stale_ && timeout <= 0) {
       RCLCPP_WARN(