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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ieiauto/autodrrt.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-09-19 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The topic_state_monitor package
Additional Links
No additional links.
Maintainers
- Ryohsuke Mitsudome
Authors
No additional authors.
topic_state_monitor
Purpose
This node monitors input topic for abnormalities such as timeout and low frequency. The result of topic status is published as diagnostics.
Inner-workings / Algorithms
The types of topic status and corresponding diagnostic status are following.
| Topic status | Diagnostic status | Description |
|---|---|---|
OK |
OK | The topic has no abnormalities |
NotReceived |
ERROR | The topic has not been received yet |
WarnRate |
WARN | The frequency of the topic is dropped |
ErrorRate |
ERROR | The frequency of the topic is significantly dropped |
Timeout |
ERROR | The topic subscription is stopped for a certain time |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
| any name | any type | Subscribe target topic to monitor |
Output
| Name | Type | Description |
|---|---|---|
/diagnostics |
diagnostic_msgs/DiagnosticArray |
Diagnostics outputs |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
topic |
string | - | Name of target topic |
topic_type |
string | - | Type of target topic (used if the topic is not transform) |
frame_id |
string | - | Frame ID of transform parent (used if the topic is transform) |
child_frame_id |
string | - | Frame ID of transform child (used if the topic is transform) |
transient_local |
bool | false | QoS policy of topic subscription (Transient Local/Volatile) |
best_effort |
bool | false | QoS policy of topic subscription (Best Effort/Reliable) |
diag_name |
string | - | Name used for the diagnostics to publish |
update_rate |
double | 10.0 | Timer callback period [Hz] |
Core Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
warn_rate |
double | 0.5 | If the topic rate is lower than this value, the topic status becomes WarnRate
|
error_rate |
double | 0.1 | If the topic rate is lower than this value, the topic status becomes ErrorRate
|
timeout |
double | 1.0 | If the topic subscription is stopped for more than this time [s], the topic status becomes Timeout
|
window_size |
int | 10 | Window size of target topic for calculating frequency |
Assumptions / Known limits
TBD.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_auto | |
| autoware_cmake | |
| ament_lint_auto | |
| autoware_lint_common | |
| ament_index_cpp | |
| diagnostic_updater | |
| rclcpp | |
| rclcpp_components | |
| tf2_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| component_state_monitor |
Launch files
- launch/topic_state_monitor.launch.xml
-
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- launch/topic_state_monitor_tf.launch.xml
-
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged topic_state_monitor at Robotics Stack Exchange
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