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How do I change the topic that rqt_robot_monitor subscribes to?

asked 2021-04-02 18:19:39 -0500

BesterJester gravatar image

I'm trying to use the rqt_robot_monitor package. The tutorial page claims that:

"The robot_monitor package provides the Robot Monitor GUI that displays the aggregated diagnostics from a robot. The Robot Monitor subscribes to the /diagnostics_agg topic, which is published by the diagnostic_aggregator."

However, as shown by my rqt_plot (picture attached), it appears that rqt_robot_monitor (which I've labled /RuntimeMonitor) does not subscribe to /diagnostics_agg (which is the data aggregated/filtered by my diagnostic_aggregator). It instead subscribes directly to the raw diagnostics data (/diagnostics).

All I need to do is get the rqt_robot_monitor to subscribe to /diagnostics_agg, but I can't figure out where in the code to do that.image descriptionimage description

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answered 2021-04-02 18:27:10 -0500

BesterJester gravatar image

updated 2021-04-02 18:28:05 -0500

I found a work-around. By entering in the below command when I start rqt_runtime_monitor, I remap what topic the node looks for. It is expecting diagnostics but I remap it to expect diagnostics_agg

rosrun rqt_runtime_monitor rqt_runtime_monitor __name:=RuntimeMonitor diagnostics:=diagnostics_agg

I'd still prefer a permanent solution though, as opposed to entering this work-around in every time I start rqt_runtime_monitor

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You can remap the topics in your launch file

mohamed ahmed gravatar image mohamed ahmed  ( 2021-04-04 05:56:31 -0500 )edit

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Asked: 2021-04-02 18:19:39 -0500

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Last updated: Apr 02 '21