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Diagnostics tend to be very specific for a set of drivers, so I don't think you'll find much simulated.

One option might be to use the ArbotiX drivers, as we do have a "sim" mode that simply sort of just echos whatever commands are given to it. You could run the "fake-maxwell.launch" from maxwell_defs found here: https://github.com/mikeferguson/maxwell The robot doesn't publish a ton of diagnostics, but it does publish the state of each controller/joint.