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Ros2 Diagnostics - Fix for Frame_id naming #640

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merged 6 commits into from
Dec 20, 2024
Merged

Ros2 Diagnostics - Fix for Frame_id naming #640

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67bd39f
Fixed ros2 diagnostics syntax
Dec 5, 2024
5aed7fa
fixed build error
Dec 5, 2024
fd2c36d
Get frame_id prefix from paramters when using tf publishing is on
Dec 6, 2024
ed3a867
Removed CameraParamHandler from BaseNode
Dec 11, 2024
1697f07
hardware_id for diagnostics to fully_qualified_name to allow it to fi…
Dec 12, 2024
8fd1faa
removed camera_paramter header as it is no longer needed
Dec 13, 2024
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3 changes: 3 additions & 0 deletions depthai_ros_driver/include/depthai_ros_driver/dai_nodes/base_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@

#include "depthai-shared/common/CameraBoardSocket.hpp"
#include "depthai/pipeline/Node.hpp"
#include "depthai_ros_driver/param_handlers/camera_param_handler.hpp"
#include "depthai_ros_driver/utils.hpp"
#include "rclcpp/logger.hpp"

Expand Down Expand Up @@ -99,6 +100,8 @@ class BaseNode {
std::string baseDAINodeName;
bool intraProcessEnabled;
rclcpp::Logger logger;

std::unique_ptr<param_handlers::CameraParamHandler> ph;
};
} // namespace dai_nodes
} // namespace depthai_ros_driver
5 changes: 5 additions & 0 deletions depthai_ros_driver/src/dai_nodes/base_node.cpp
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Expand Up @@ -15,6 +15,7 @@ namespace dai_nodes {
BaseNode::BaseNode(const std::string& daiNodeName, std::shared_ptr<rclcpp::Node> node, std::shared_ptr<dai::Pipeline> /*pipeline*/)
: baseNode(node), baseDAINodeName(daiNodeName), logger(node->get_logger()) {
intraProcessEnabled = node->get_node_options().use_intra_process_comms();
ph = std::make_unique<param_handlers::CameraParamHandler>(baseNode, "camera");
};
BaseNode::~BaseNode() = default;
void BaseNode::setNodeName(const std::string& daiNodeName) {
Expand Down Expand Up @@ -46,6 +47,10 @@ std::string BaseNode::getSocketName(dai::CameraBoardSocket socket) {
}

std::string BaseNode::getTFPrefix(const std::string& frameName) {
if(ph->getParam<bool>("i_publish_tf_from_calibration")) {
return ph->getParam<std::string>("i_tf_base_frame") + "_" + frameName;
}

return std::string(getROSNode()->get_name()) + "_" + frameName;
}

Expand Down
17 changes: 16 additions & 1 deletion depthai_ros_driver/src/dai_nodes/sys_logger.cpp
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Expand Up @@ -69,7 +69,22 @@ void SysLogger::produceDiagnostics(diagnostic_updater::DiagnosticStatusWrapper&
auto logData = loggerQ->get<dai::SystemInformation>(std::chrono::seconds(5), timeout);
if(!timeout) {
stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "System Information");
stat.add("System Information", sysInfoToString(*logData));
const dai::SystemInformation& sysInfo = *logData;
stat.add("Leon CSS CPU Usage", sysInfo.leonCssCpuUsage.average * 100);
stat.add("Leon MSS CPU Usage", sysInfo.leonMssCpuUsage.average * 100);
stat.add("Ddr Memory Usage", sysInfo.ddrMemoryUsage.used / (1024.0f * 1024.0f));
stat.add("Ddr Memory Total", sysInfo.ddrMemoryUsage.total / (1024.0f * 1024.0f));
stat.add("Cmx Memory Usage", sysInfo.cmxMemoryUsage.used / (1024.0f * 1024.0f));
stat.add("Cmx Memory Total", sysInfo.cmxMemoryUsage.total);
stat.add("Leon CSS Memory Usage", sysInfo.leonCssMemoryUsage.used / (1024.0f * 1024.0f));
stat.add("Leon CSS Memory Total", sysInfo.leonCssMemoryUsage.total / (1024.0f * 1024.0f));
stat.add("Leon MSS Memory Usage", sysInfo.leonMssMemoryUsage.used / (1024.0f * 1024.0f));
stat.add("Leon MSS Memory Total", sysInfo.leonMssMemoryUsage.total / (1024.0f * 1024.0f));
stat.add("Average Chip Temperature", sysInfo.chipTemperature.average);
stat.add("Leon CSS Chip Temperature", sysInfo.chipTemperature.css);
stat.add("Leon MSS Chip Temperature", sysInfo.chipTemperature.mss);
stat.add("UPA Chip Temperature", sysInfo.chipTemperature.upa);
stat.add("DSS Chip Temperature", sysInfo.chipTemperature.dss);
} else {
stat.summary(diagnostic_msgs::msg::DiagnosticStatus::ERROR, "No Data");
}
Expand Down
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