Disable MCU diagnostics for A200

clearpathrobotics · Jan 27, 2025 · 9a594bc · 9a594bc
1 parent c02884d
commit 9a594bc
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/clearpath_diagnostics/src/clearpath_diagnostic_updater.cpp b/clearpath_diagnostics/src/clearpath_diagnostic_updater.cpp
@@ -48,10 +48,14 @@ ClearpathDiagnosticUpdater::ClearpathDiagnosticUpdater()
 
   // Set Hardware ID as serial number in diagnostics
   updater_.setHardwareID(serial_number_);
-  if (latest_apt_firmware_version_ != "simulated") {
+  if (latest_apt_firmware_version_ == "not_applicable") {
+    RCLCPP_INFO(this->get_logger(), "No MCU indicated, MCU diagnostics disabled.");
+  }
+  else if (latest_apt_firmware_version_ != "simulated") {
     // Publish MCU Status information as diagnostics
     updater_.add("MCU Status", this, &ClearpathDiagnosticUpdater::mcu_status_diagnostic);
     updater_.add("MCU Firmware Version", this, &ClearpathDiagnosticUpdater::check_firmware_version);
+    RCLCPP_INFO(this->get_logger(), "MCU diagnostics started.");
   }
 
   mcu_status_rate_ = 1.0;