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I figured out that first you need a code to read port signals (e.g. battety current or motor temperature), then publish those data to relevant topics. Once you have raw data in the system, you need a node to subscribe for those data and then reformat it to diagnostic_msgs/DiagnosticArray type to republish them to /diagnostics topic so you can use it with the diagnostic package tools.

There is a really good example for filling the fields in DiagnosticArray type here.