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Hi, i need help with the diagnostics aggregator with Gazebo.

asked 2019-10-31 23:23:23 -0500

LJ95 gravatar image

Hi, i want to implement a general simulation on Gazebo like for example using this simulation with the diagnostics aggregator receiving certain information from the robot like the motor states and sensors states and then display that information into the robot monitor. Is there a way to implement this? Thank so much in advance for your help.

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answered 2019-11-01 05:10:48 -0500

Choco93 gravatar image

Simulation usage is pretty straight forward as explained on link you have shared. For diagnostic aggregator, you can take a look here. What you need to do is make a config file for aggregator according to your needs and launch the aggregator loading that config (explained in the link I shared).

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Hiii, thank you for your reply. The thing is that i dont know how to make an appropiate diagnostics aggregator to my needs for taking information from gazebo and the robot itself. Many diagnostics aggregator that i have found many are used for actual robots and not simulated robots. Is there a correct way to create a diagnostics aggregator but for simulates purposes for gazebo?

LJ95 gravatar image LJ95  ( 2019-11-01 11:14:55 -0500 )edit

In order to make diagnostic aggregator you need nodes that are actually publishing diagnostics, then aggregator can be used to group them together based on features they relate to.

Choco93 gravatar image Choco93  ( 2019-11-04 01:39:51 -0500 )edit

I understand that, but how can i aggregate the nodes correctly? i have to make a node the publishes directly to the diagnostics? how can i managed to do that? is there an example i could see to understand it more? Thank you for all your help.

LJ95 gravatar image LJ95  ( 2019-11-05 13:25:17 -0500 )edit

Examples of adding diagnostics for both python and cpp can be found here.

Choco93 gravatar image Choco93  ( 2019-11-06 01:37:11 -0500 )edit

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Asked: 2019-10-31 23:23:23 -0500

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Last updated: Nov 01 '19