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hilary-luohilary-luo
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Move clearpath_diagnostics to clearpath_common (#211)
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‎.github/workflows/ci.yml

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@@ -43,6 +43,7 @@ jobs:
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clearpath_control
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clearpath_customization
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clearpath_description
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clearpath_diagnostics
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clearpath_generator_common
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clearpath_mounts_description
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clearpath_platform_description
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clearpath_control
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clearpath_customization
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clearpath_description
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clearpath_diagnostics
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clearpath_generator_common
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clearpath_mounts_description
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clearpath_platform_description
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clearpath_control
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clearpath_customization
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clearpath_description
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clearpath_diagnostics
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clearpath_generator_common
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clearpath_mounts_description
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clearpath_platform_description
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clearpath_control
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clearpath_customization
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clearpath_description
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clearpath_diagnostics
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clearpath_generator_common
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clearpath_mounts_description
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clearpath_platform_description

‎clearpath_diagnostics/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package clearpath_diagnostics
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.4.0 (2025-04-30)
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------------------
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2.3.3 (2025-04-17)
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------------------
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2.3.2 (2025-04-16)
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------------------
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2.3.1 (2025-04-14)
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------------------
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* Remove duplicate and incorrect current / voltage labels (`#197 <https://github.com/clearpathrobotics/clearpath_robot/issues/197>`_)
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The terms "measured voltage" or "measured current" are prepended to these labels where they are used.
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* Contributors: Hilary Luo
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2.3.0 (2025-04-11)
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------------------
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* Lint: Diagnostic move log to new line (`#191 <https://github.com/clearpathrobotics/clearpath_robot/issues/191>`_)
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* Fix/estop diagnostics (`#184 <https://github.com/clearpathrobotics/clearpath_robot/issues/184>`_)
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* Feature/clear stale diagnostics (`#183 <https://github.com/clearpathrobotics/clearpath_robot/issues/183>`_)
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* Feature/diagnostic categories (`#175 <https://github.com/clearpathrobotics/clearpath_robot/issues/175>`_)
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* Feature/inventus diagnostics (`#170 <https://github.com/clearpathrobotics/clearpath_robot/issues/170>`_)
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* Contributors: Hilary Luo, Tony Baltovski, Luis Camero
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2.2.4 (2025-04-07)
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------------------
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2.2.3 (2025-03-20)
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------------------
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* [clearpath_diagnostics] Updated for changes to MCU status message.
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* Contributors: Tony Baltovski
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2.2.2 (2025-03-17)
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------------------
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2.2.1 (2025-03-12)
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------------------
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2.2.0 (2025-03-11)
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------------------
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* Feature/generated agg yaml (`#158 <https://github.com/clearpathrobotics/clearpath_robot/issues/158>`_)
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* Clear out sensor categories that will be generated
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* Improve logging and error handling
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* Correction to dependencies
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* Fix BMS frequency diagnostic (`#157 <https://github.com/clearpathrobotics/clearpath_robot/issues/157>`_)
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* Added Lynx motor driver diagnostics (`#149 <https://github.com/clearpathrobotics/clearpath_robot/issues/149>`_)
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* Removed trailing spaces
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* Added Lynx motor diagnostics
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* Feature/lighting diagnostics (`#144 <https://github.com/clearpathrobotics/clearpath_robot/issues/144>`_)
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* Add lighting diagnostics
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* Remap lighting diagnostic topic
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* Set diagnostic updater hardware id to platform since serial isn't locally available
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* Improve clarity of diagnostic summary text
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* Feature/battery diagnostics (`#142 <https://github.com/clearpathrobotics/clearpath_robot/issues/142>`_)
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* Add missing DiagnosticStatus dependency
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* Monitor BatteryState, Power and StopStatus messages
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* Declare methods before member variables
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* Move the template function to the cpp since it is private
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* Only display error summaries if a message has been received
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* Contributors: Hilary Luo
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2.1.2 (2025-02-28)
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------------------
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2.1.1 (2025-02-06)
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------------------
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2.1.0 (2025-01-31)
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------------------
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* Feature/diagnostics (`#135 <https://github.com/clearpathrobotics/clearpath_robot/issues/135>`_)
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* Initial port of diagnostics to C++
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* Remap axis camera topics to match API
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* Monitor MCU Status message frequency
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* Added firmware version check
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* Group MCU diagnostics together
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* Improve messaging around firmware versions
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* Disable MCU diagnostics for A200
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* Contributors: Hilary Luo
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2.0.4 (2025-01-22)
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------------------
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2.0.3 (2025-01-17)
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------------------
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* [clearpath_diagnostics] Fixed version.
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* Contributors: Tony Baltovski
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2.0.2 (2025-01-17)
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------------------
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2.0.1 (2025-01-17)
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------------------
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2.0.0 (2025-01-17)
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------------------
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* Fix hard-coded humble packages (`#117 <https://github.com/clearpathrobotics/clearpath_robot/issues/117>`_)
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* Contributors: Chris Iverach-Brereton, Luis Camero, Tony Baltovski
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1.1.0 (2025-01-15)
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------------------
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1.0.1 (2024-11-28)
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1.0.0 (2024-11-26)
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------------------
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* Added minimum version.
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* Remove battery_state from CMakeLists
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* Move battery_state to clearpath_hardware_interfaces
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* Contributors: Luis Camero, Tony Baltovski
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0.3.2 (2024-10-04)
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------------------
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0.3.1 (2024-09-23)
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------------------
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0.3.0 (2024-09-19)
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------------------
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* R100 Initial Battry
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* Contributors: Luis Camero, luis-camero
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0.2.15 (2024-08-12)
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-------------------
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0.2.14 (2024-08-08)
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-------------------
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0.2.13 (2024-07-30)
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-------------------
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0.2.12 (2024-07-22)
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-------------------
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* Use PathJoinSubstitution for setup_path
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* Contributors: Luis Camero
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0.2.11 (2024-05-28)
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-------------------
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0.2.10 (2024-05-16)
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-------------------
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0.2.9 (2024-05-16)
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------------------
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0.2.8 (2024-05-14)
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------------------
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* Even more lint errors
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* More linting changes
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* Fixed linting errors
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* Contributors: Luis Camero
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0.2.7 (2024-04-10)
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------------------
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0.2.6 (2024-04-08)
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------------------
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0.2.5 (2024-03-07)
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------------------
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0.2.4 (2024-01-19)
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------------------
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0.2.3 (2024-01-18)
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------------------
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0.2.2 (2024-01-10)
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------------------
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* Get topic without namespace to address duplicate namespacing
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* Contributors: Hilary Luo
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0.2.1 (2023-12-18)
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------------------
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0.2.0 (2023-12-13)
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------------------
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* Added S1P2 battery configuration
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* Set battery charging status
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* Added dingo to battery state control
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* Added D100 and D150 to generator and battery node
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* Generate lighting node
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* Fixed status message firmware version
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* J100 -> W200
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* Removed shebang
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* Use battery model and configuration from clearpath_config
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* Removed HMI msg, encode Uint8 instead
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* Initial battery control node
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* Renamed to battery_state_estimator
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Added to robot generator
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* Properties, capacity, voltage
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Create pub/sub only for LiION and SLA
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* Added LUT for SLA
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* Battery types and configurations
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* rolling average
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* Initial battery state publisher
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* Pass setup path
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* Get namespace from robot.yaml for diagnostics launch
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Added diagnostics launch to generator
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* Check ros-humble-clearpath-firmware package version
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* Add all sensors
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* Firmware and sensor diagnostics
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* Contributors: Roni Kreinin
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0.1.3 (2023-10-04)
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------------------
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0.1.2 (2023-09-27)
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------------------
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0.1.1 (2023-09-11)
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------------------
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0.1.0 (2023-08-31)
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------------------
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0.0.3 (2023-08-15)
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------------------
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0.0.2 (2023-07-25)
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------------------
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0.0.1 (2023-07-20)
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------------------

‎clearpath_diagnostics/CMakeLists.txt

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cmake_minimum_required(VERSION 3.8)
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project(clearpath_diagnostics)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(clearpath_platform_msgs REQUIRED)
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find_package(diagnostic_updater REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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set(DEPENDENCIES
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ament_cmake
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clearpath_platform_msgs
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diagnostic_updater
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rclcpp
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sensor_msgs
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)
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add_executable(clearpath_diagnostic_updater
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src/clearpath_diagnostic_updater.cpp
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)
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target_include_directories(clearpath_diagnostic_updater PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
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target_compile_features(clearpath_diagnostic_updater PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
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ament_target_dependencies(clearpath_diagnostic_updater ${DEPENDENCIES})
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target_link_libraries(clearpath_diagnostic_updater)
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install(TARGETS clearpath_diagnostic_updater
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DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY config launch
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎clearpath_diagnostics/config/diagnostic_aggregator.yaml

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# Note that this file is the default configuration but some elements are appended or overridden
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# in clearpath_generator_common
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diagnostic_aggregator:
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ros__parameters:
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path: Clearpath Diagnostics
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platform:
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type: diagnostic_aggregator/AnalyzerGroup
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path: Platform
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analyzers:
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power:
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type: diagnostic_aggregator/GenericAnalyzer
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path: Power
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expected: [
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'clearpath_diagnostic_updater: Battery Management System',
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'clearpath_diagnostic_updater: Power Status'
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]
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contains: [ 'Battery', 'Power' ]
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stop_status:
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type: diagnostic_aggregator/GenericAnalyzer
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path: E-stop Status
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expected: [ 'clearpath_diagnostic_updater: E-stop Status' ]
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contains: [ 'E-stop' ]
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lighting:
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type: diagnostic_aggregator/GenericAnalyzer
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path: Lighting
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contains: [ 'Light' ]
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drive:
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type: diagnostic_aggregator/GenericAnalyzer
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path: Drive System
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expected: [
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'controller_manager: Controller Manager Activity',
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'controller_manager: Controllers Activity',
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'controller_manager: Hardware Components Activity',
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]
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contains: [
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'lynx',
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'puma',
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'sevcon',
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'controller_manager',
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'twist_mux',
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'joy_node'
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]
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odometry:
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type: diagnostic_aggregator/GenericAnalyzer
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path: Odometry
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contains: [ 'odometry', 'ekf_node' ]
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networking:
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type: diagnostic_aggregator/GenericAnalyzer
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path: Networking
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contains: [ 'Wi-Fi' ]
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# sensors:
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# type: diagnostic_aggregator/AnalyzerGroup
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# path: Sensors
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# analyzers: # Must be populated with the sensor categories

‎clearpath_diagnostics/config/diagnostic_updater.yaml

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clearpath_diagnostic_updater:
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ros__parameters:
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serial_number: unknown
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platform_model: unknown
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ros_distro: unknown
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latest_apt_firmware_version: unknown
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installed_apt_firmware_version: unknown
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# topics: # Must be populated with the topics to be monitored

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