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Skip diagnostics for disabled topics. #326

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Skip diagnostics for disabled topics. #326

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6 changes: 6 additions & 0 deletions clearpath_diagnostics/src/clearpath_diagnostic_updater.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -732,6 +732,12 @@ void ClearpathDiagnosticUpdater::setup_topic_rate_diagnostics()
template<class MsgType> void ClearpathDiagnosticUpdater::add_rate_diagnostic(
const std::string topic_name, const double rate)
{
// Skip disabled topics (rate of 0 means the topic is not published)
if (rate == 0.0) {
RCLCPP_INFO(this->get_logger(), "Skipping diagnostic for %s (rate is 0)", topic_name.c_str());
return;
}

// Store the rate so that it can be accessed via a pointer and is not deleted
rates_.push_back(rate);

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5 changes: 4 additions & 1 deletion clearpath_generator_common/clearpath_generator_common/param/platform.py
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Expand Up @@ -656,9 +656,12 @@ def add_topic(self, sensor: BaseSensor, topic_key: str) -> None:
:param sensor: The sensor object from which the topic info will be gotten
:param topic_key: The key used to identify the topic to be monitored
"""
rate = float(sensor.get_topic_rate(topic_key))
if rate == 0.0:
return
self.diag_dict[sensor.get_topic_name(topic_key, local=True)] = {
'type': sensor.get_topic_type(topic_key),
'rate': float(sensor.get_topic_rate(topic_key))
'rate': rate
}

class FoxgloveBridgeParam(BaseParam):
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