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Effective Robotics Programming with ROS

You're reading from   Effective Robotics Programming with ROS Find out everything you need to know to build powerful robots with the most up-to-date ROS

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Product type Paperback
Published in Dec 2016
Publisher Packt
ISBN-13 9781786463654
Length 468 pages
Edition 3rd Edition
Tools
Concepts
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Authors (3):
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Luis S√°nchez Luis S√°nchez
Author Profile Icon Luis S√°nchez
Luis S√°nchez
Enrique Fernandez Perdomo Enrique Fernandez Perdomo
Author Profile Icon Enrique Fernandez Perdomo
Enrique Fernandez Perdomo
Anil Mahtani Anil Mahtani
Author Profile Icon Anil Mahtani
Anil Mahtani
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Toc

Table of Contents (12) Chapters Close

Preface 1. Getting Started with ROS FREE CHAPTER 2. ROS Architecture and Concepts 3. Visualization and Debugging Tools 4. 3D Modeling and Simulation 5. The Navigation Stack – Robot Setups 6. The Navigation Stack – Beyond Setups 7. Manipulation with MoveIt! 8. Using Sensors and Actuators with ROS 9. Computer Vision 10. Point Clouds Index

Visualizing nodes diagnostics


ROS nodes can provide diagnostic information using the diagnostics topic. For that, there is an API that helps to publish diagnostic information in a standard way. The information follows the diagnostic_msgs/DiagnosticStatus message type, which allows us to specify a level (OK, WARN, ERROR), name, message, and hardware ID as well as a list of diagnostic_msgs/KeyValue, which are pairs of key and value strings.

The interesting part comes with the tools that collect and visualize this diagnostic information. At the basic level, rqt_runtime_monitor allows us to visualize the information directly published through the diagnostics topic. Run the example7 node, which publishes information through the diagnostics topic, and this visualization tool, to see the diagnostic information:

$ roslaunch chapter3_tutorials example7.launch
$ rosrun rqt_runtime_monitor rqt_runtime_monitor

The previous commands display the following output:

When the system is large, we can aggregate...

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