ROS2 diagnostic publisher

[cedricpradalier]

Hello,

We are porting our husky to ROS2 and I just tested the humble-devel branch. This seems to work great for the controller but I could not see where the diagnostic messages defined in husky_base/src/diagnotics.cpp are published. Is there a plan to add a publisher for this diagnostic array ? It seems to be the only place where the internal sensor data (power, voltage, current, ...) are published.

If needed, I could implement it myself, but I could use some pointers to get started.

Thanks.

[tonybaltovski]

Hi @cedricpradalier, for ROS 2 Humble, the Husky code base is here: https://github.com/clearpathrobotics/clearpath_common.

[cedricpradalier]

Thanks. Will it be compatible with the old horizon firmware we have on our husky?

…

On Sat, Jan 13, 2024, 18:34 Tony Baltovski ***@***.***> wrote: Hi @cedricpradalier <https://github.com/cedricpradalier>, for ROS 2 Humble, the Husky code base is here: https://github.com/clearpathrobotics/clearpath_common. — Reply to this email directly, view it on GitHub <#304 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAD2TE32AIOEANRJAFW3UT3YOLARLAVCNFSM6AAAAABBZIOFNSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQOJQGYYDENJSG4> . You are receiving this because you were mentioned.Message ID: ***@***.***>

[tonybaltovski]

The communication protocol is the same for all.