General information about this repository, including legal information, build instructions and known issues/limitations, can be found in the README of the repository root.

The micro-ROS diagnostics framework packages

This ROS 2 package provides a simple diagnostics framework for micro-ROS, built against rclc:

• micro_ros_diagnostic_msgs - Diagnostic messages suited for micro-ROS, e.g., no use of arrays
• micro_ros_diagnostic_updater - rclc convenience functions for diagnostic updaters, publishing micro-ROS diagnostic messages
• micro_ros_common_diagnostics - Micro-controller specific monitors
• micro_ros_diagnostic_bridge - rclcpp package to translate micro-ROS diagnostic massages to vanilla ROS 2 diagnostic messages

The micro-ROS diagnostics packages do not provide any aggregator as we assume that such aggregation takes place on a microprocessor running standard ROS 2. Hence, we assume the following typical architecture:

In order for the standard ROS 2 diagnostic aggregator to aggregate micro-ROS diagnostic message types, the ROS 2 bridge translates micro-ROS diagnostic messages to standard ROS 2 diagnostic messages.

Purpose of the Project

This software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards, e.g., ISO 26262.

How to Build, Test, Install, and Use

After you cloned this repository into your ROS 2 workspace folder, you may build and install it using colcon: $ colcon build --packages-select-regex micro_ros_.*diagn

In a typical architecture indicated above, you will need to build the packages micro_ros_diagnostic_msgs, micro_ros_diagnostic_updater, and micro_ros_common_diagnostics (optional) on the microcontroller. Build the packages micro_ros_diagnostic_msgs and micro_ros_diagnostic_bridge on the micro processor next to the micro-ROS agent.

Running the example

The examples can be used as a usage reference. You’ll find an example launch configuration on the micro_ros_diagnostic_bridge. This example can be run along the examples available in the micro_ros_diagnostic_updater package.

First, build both packages with the examples enabled

colcon build --cmake-args -DMICRO_ROS_DIAGNOSTIC_BRIDGE_EXAMPLES=ON -DMICRO_ROS_DIAGNOSTIC_UPDATER_EXAMPLES=ON

You’ll need three (or four) terminals for the second step. On the first one, source your setup.sh and launch the example bridge

. install/setup.sh
ros2 launch micro_ros_diagnostic_bridge example_diagnostic_bridge.launch.py

On the second terminal, source setup.sh and run the processor info example

. install/setup.sh
ros2 run micro_ros_diagnostic_updater example_processor_updater

Lastly, on the third terminal, see the diagnostic messages

. install/setup.sh
ros2 topic echo /diagnostics

You can open a fourth terminal and run the website checker example

License

The micro-ROS diagnostics framework packages are open-sourced under the Apache-2.0 license. See the LICENSE file for details.

For a list of other open-source components included in ROS 2 system_modes, see the file 3rd-party-licenses.txt.

Known Issues/Limitations

Please notice the following issues/limitations:

1. Due to limitations in the Micro-ROS agent, the micro-ROS diagnostics framework can’t (yet) publish the default ROS 2 diagnostic messages diagnostic_msgs, but provides simplified versions of the diagnostic messages and services that go without arrays, MicroROSDiagnosticStatus and MicroROSSelfTest. These simplified messages and services will have to be translated by the agent or a 3rd party.

Acknowledgments

This activity has received funding from the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme (grant agreement n° 780785).

Contributing

Want to contribute? Great! You can do so through the standard GitHub pull request model. For large contributions we do encourage you to file a ticket in the GitHub issues tracking system prior to any code development to coordinate with the micro-ROS diagnostics development team early in the process. Coordinating up front helps to avoid frustration later on.

Your contribution must be licensed under the Apache-2.0 license, the license used by this project.

Add / retain copyright notices

Include a copyright notice and license in each new file to be contributed, consistent with the style used by this project. If your contribution contains code under the copyright of a third party, document its origin, license, and copyright holders.

Sign your work

This project tracks patch provenance and licensing using a modified Developer Certificate of Origin (DCO; from OSDL) and Signed-off-by tags initially developed by the Linux kernel project.

micro-ROS diagnostics Developer's Certificate of Origin.  Version 1.0

By making a contribution to this project, I certify that:

(a) The contribution was created in whole or in part by me and I
    have the right to submit it under the "Apache License, Version 2.0"
    ("Apache-2.0"); or

(b) The contribution is based upon previous work that is covered by
    an appropriate open source license and I have the right under
    that license to submit that work with modifications, whether
    created in whole or in part by me, under the Apache-2.0 license;
    or

(c) The contribution was provided directly to me by some other
    person who certified (a) or (b) and I have not modified it.

(d) I understand and agree that this project and the contribution
    are public and that a record of the contribution (including all
    metadata and personal information I submit with it, including my
    sign-off) is maintained indefinitely and may be redistributed
    consistent with this project and the requirements of the Apache-2.0
    license or any open source license(s) involved, where they are
    relevant.

(e) I am granting the contribution to this project under the terms of
    Apache-2.0.

    http://www.apache.org/licenses/LICENSE-2.0

With the sign-off in a commit message you certify that you authored the patch or otherwise have the right to submit it under an open source license. The procedure is simple: To certify above micro-ROS diagnostics Developer’s Certificate of Origin 1.0 for your contribution just append a line

Signed-off-by: Random J Developer <random@developer.example.org>

to every commit message using your real name or your pseudonym and a valid email address.

If you have set your user.name and user.email git configs you can automatically sign the commit by running the git-commit command with the -s option. There may be multiple sign-offs if more than one developer was involved in authoring the contribution.

For a more detailed description of this procedure, please see SubmittingPatches which was extracted from the Linux kernel project, and which is stored in an external repository.

Individual vs. Corporate Contributors

Often employers or academic institution have ownership over code that is written in certain circumstances, so please do due diligence to ensure that you have the right to submit the code.

If you are a developer who is authorized to contribute to micro-ROS diagnostics on behalf of your employer, then please use your corporate email address in the Signed-off-by tag. Otherwise please use a personal email address.

Maintain Copyright holder / Contributor list

Each contributor is responsible for identifying themselves in the NOTICE file, the project’s list of copyright holders and authors. Please add the respective information corresponding to the Signed-off-by tag as part of your first pull request.

If you are a developer who is authorized to contribute to micro-ROS diagnostics on behalf of your employer, then add your company / organization to the list of copyright holders in the NOTICE file. As author of a corporate contribution you can also add your name and corporate email address as in the Signed-off-by tag.

If your contribution is covered by this project’s DCO’s clause “(c) The contribution was provided directly to me by some other person who certified (a) or (b) and I have not modified it”, please add the appropriate copyright holder(s) to the NOTICE file as part of your contribution.