Feature/diagnostics (#135)

* Initial port of diagnostics to C++

* Remap axis camera topics to match API

* Monitor MCU Status message frequency

* Added firmware version check

* Group MCU diagnostics together

* Improve messaging around firmware versions

* Disable MCU diagnostics for A200

clearpath_diagnostics/CMakeLists.txt

@@ -7,14 +7,32 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(ament_cmake_python REQUIRED)
+find_package(clearpath_platform_msgs REQUIRED)
+find_package(diagnostic_updater REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
 
-ament_python_install_package(${PROJECT_NAME})
+set(DEPENDENCIES
+  ament_cmake
+  clearpath_platform_msgs
+  diagnostic_updater
+  rclcpp
+  sensor_msgs
+)
 
-install(PROGRAMS
-  ${PROJECT_NAME}/diagnostics_updater
-  DESTINATION lib/${PROJECT_NAME}
+add_executable(clearpath_diagnostic_updater
+  src/clearpath_diagnostic_updater.cpp
 )
+target_include_directories(clearpath_diagnostic_updater PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_compile_features(clearpath_diagnostic_updater PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+ament_target_dependencies(clearpath_diagnostic_updater ${DEPENDENCIES})
+target_link_libraries(clearpath_diagnostic_updater)
+
+install(TARGETS clearpath_diagnostic_updater
+  DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY config launch
   DESTINATION share/${PROJECT_NAME}

clearpath_diagnostics/config/diagnostic_aggregator.yaml

@@ -0,0 +1,35 @@
+diagnostic_aggregator:
+  ros__parameters:
+    path: Clearpath Diagnostics
+    platform:
+      type: diagnostic_aggregator/AnalyzerGroup
+      path: Platform
+      analyzers:
+        mcu:
+          type: diagnostic_aggregator/GenericAnalyzer
+          path: MCU
+          contains: [ 'MCU' ]
+    sensors:
+      type: diagnostic_aggregator/AnalyzerGroup
+      path: Sensors
+      analyzers:
+        cameras:
+          type: diagnostic_aggregator/GenericAnalyzer
+          path: Cameras
+          contains: [ 'camera' ]
+        lidar2d:
+          type: diagnostic_aggregator/GenericAnalyzer
+          path: Lidar2D
+          contains: [ 'lidar2d' ]
+        lidar3d:
+          type: diagnostic_aggregator/GenericAnalyzer
+          path: Lidar3D
+          contains: [ 'lidar3d' ]
+        imu:
+          type: diagnostic_aggregator/GenericAnalyzer
+          path: IMU
+          contains: [ 'imu' ]
+        gps:
+          type: diagnostic_aggregator/GenericAnalyzer
+          path: GPS
+          contains: [ 'gps' ]

clearpath_diagnostics/config/diagnostic_updater.yaml

@@ -0,0 +1,8 @@
+clearpath_diagnostic_updater:
+  ros__parameters:
+    serial_number: unknown
+    platform_model: unknown
+    ros_distro: unknown
+    latest_apt_firmware_version: unknown
+    installed_apt_firmware_version: unknown
+    topics: {}