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If you running a full ROS (and not rosserial on an Arduino) you can use the diagnostic_updater package to automatically fill in the diagnostics message and publish it.
The diagnostics_updater package also includes diagnosed publishers that you can use to make sure that you're publishing at your desired rate.
The diagnostics_updater package ships with some fairly good examples: http://docs.ros.org/api/diagnostic_updater/html/example_8cpp_source.html
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