Diagnostic Aggregator Node

stretch_core/config/diagnostics.yaml

@@ -0,0 +1,35 @@
+    type: diagnostic_aggregator/AnalyzerGroup
+    path: Stretch
+    analyzers:
+        hardware:
+          path: Hardware
+          type: diagnostic_aggregator/AnalyzerGroup
+          analyzers:
+            Lift:
+              type: diagnostic_aggregator/GenericAnalyzer
+              find_and_remove_prefix: ['stretch_driver: Lift']
+              path: Lift
+            Arm:
+              type: diagnostic_aggregator/GenericAnalyzer
+              find_and_remove_prefix: ['stretch_driver: Arm']
+              path: Arm
+            Base:
+              type: diagnostic_aggregator/GenericAnalyzer
+              find_and_remove_prefix: ['stretch_driver: Base']
+              path: Base
+            EndOfArm:
+              type: diagnostic_aggregator/GenericAnalyzer
+              find_and_remove_prefix: ['stretch_driver: EndOfArm']
+              path: EndOfArm
+            Head:
+              type: diagnostic_aggregator/GenericAnalyzer
+              find_and_remove_prefix: ['stretch_driver: Head']
+              path: Head
+            Pimu:
+              type: diagnostic_aggregator/GenericAnalyzer
+              find_and_remove_prefix: ['stretch_driver: Pimu']
+              path: Pimu
+            Wacc:
+              type: diagnostic_aggregator/GenericAnalyzer
+              find_and_remove_prefix: ['stretch_driver: Wacc']
+              path: Wacc

stretch_core/launch/stretch_driver.launch

@@ -40,5 +40,8 @@
     <remap from="joint_states" to="/stretch/joint_states" />
     <param name="controller_calibration_file" type="string" value="$(arg calibrated_controller_yaml_file)"/>
   </node>
-  
+
+  <node name="aggregator_node" pkg="diagnostic_aggregator" type="aggregator_node">
+    <rosparam command="load" file="$(find stretch_core)/config/diagnostics.yaml" />
+  </node>
 </launch>

stretch_core/package.xml

@@ -79,6 +79,7 @@
   <exec_depend>actionlib_msgs</exec_depend>
   <exec_depend>diagnostic_msgs</exec_depend>
   <exec_depend>diagnostic_updater</exec_depend>
+  <exec_depend>diagnostic_aggregator</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>nav_msgs</exec_depend>
   <exec_depend>control_msgs</exec_depend>