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ROS2 Diagnostics and Health Monitoring with Clean Architecture (Python & C++)
Instalar com Codex ou Claude Copie este prompt, cole no Codex, Claude ou outro assistente e deixe que ele revise a página da skill e instale para você.
Baseado na classificação ocupacional SOC
Author a new asset for this .claude/ template — a rule, skill, slash command, or sub-agent — following the project's conventions and wiring it into the CLAUDE.md / README.md indexes. Trigger when the user wants to add or extend a command, skill, agent, or rule (make the template itself extensible).
Bootstrap a complete ROS 2 colcon workspace from scratch — directory layout, .gitignore, top-level README, this .claude/ config, an interfaces package and a first Clean Architecture package, and a bringup package. Trigger when the user asks to create a new workspace / start a new ROS 2 project from zero.
Scaffold a Behavior Tree leaf node — plain BehaviorTree.CPP (SyncActionNode / StatefulActionNode / ConditionNode) or a BehaviorTree.ROS2 wrapper (RosActionNode / RosServiceNode / RosTopicPubNode / RosTopicSubNode) — with ports, factory/plugin registration, and XML v4 usage. Trigger when the user asks to write a behavior-tree node (not Nav 2-specific).
Scaffold a ros2_control hardware component (SystemInterface / ActuatorInterface / SensorInterface) and its bringup — the plugin (on_init/on_configure/on_activate, RT-safe read()/write()), URDF <ros2_control> wiring, controllers.yaml + launch, pluginlib export. Trigger when the user asks to integrate hardware or bring up a robot under ros2_control.
Scaffold or extend a ros2_control controller or broadcaster (ControllerInterface / ChainableControllerInterface) — base-class choice, command/state interface configuration, lifecycle, real-time-safe update(), generate_parameter_library, pluginlib export, tests. Trigger when the user asks to write a ros2_control controller or broadcaster.
Bridge a VDA 5050 v3.0.0 fleet-control interface (MQTT/JSON) onto Nav 2 under Clean Architecture — domain entities, MQTT/Nav 2 adapters behind ports, order→NavigateThroughPoses mapping, state aggregation, action handlers. Trigger when the user asks to build or extend a VDA 5050 connector / fleet bridge.
| name | ROS2 Diagnostics |
| description | ROS2 Diagnostics and Health Monitoring with Clean Architecture (Python & C++) |
This skill demonstrates how to integrate standard ROS2 diagnostics tools for health monitoring within a Clean Architecture.
# domain/entities/health.py
class HealthLevel(Enum):
OK = 0
WARN = 1
ERROR = 2
STALE = 3
@dataclass
class ComponentHealth:
name: str
level: HealthLevel
message: str
values: dict
See previous Python example using diagnostic_updater.
Using diagnostic_updater package in C++.
// infrastructure/ros2/diagnostics/diagnostics_manager.hpp
#pragma once
#include <rclcpp/rclcpp.hpp>
#include <diagnostic_updater/diagnostic_updater.hpp>
#include "domain/interfaces/diagnostics_port.hpp"
namespace infrastructure::ros2::diagnostics {
class DiagnosticsManager {
public:
explicit DiagnosticsManager(rclcpp::Node::SharedPtr node)
: node_(node), updater_(node) {
updater_.setHardwareID(node->get_name());
}
void register_monitor(const std::string& name,
std::function<void(diagnostic_updater::DiagnosticStatusWrapper&)> callback) {
updater_.add(name, callback);
}
// Example callback wrapper for domain entities
void check_component(diagnostic_updater::DiagnosticStatusWrapper& stat) {
// Retrieve health from domain service
// auto health = domain_service_->get_health();
// stat.summary(health.level, health.message);
// stat.add("temp", health.value);
}
private:
rclcpp::Node::SharedPtr node_;
diagnostic_updater::Updater updater_;
};
} // namespace
// infrastructure/ros2/diagnostics/frequency_monitor.hpp
#include <diagnostic_updater/publisher.hpp> // For TopicDiagnostic
class FrequencyMonitor {
public:
FrequencyMonitor(diagnostic_updater::Updater& updater,
const std::string& topic_name,
double min_freq, double max_freq) {
diagnostic_updater::FrequencyStatusParam freq_param(&min_freq, &max_freq, 0.1, 10);
monitor_ = std::make_unique<diagnostic_updater::HeaderlessTopicDiagnostic>(
topic_name, updater, freq_param);
}
void tick() {
monitor_->tick();
}
private:
std::unique_ptr<diagnostic_updater::HeaderlessTopicDiagnostic> monitor_;
};
// application/services/motor_controller.cpp
void MotorController::check_temp(diagnostic_updater::DiagnosticStatusWrapper& stat) {
double temp = read_temp();
if (temp > 80.0) {
stat.summary(diagnostic_msgs::msg::DiagnosticStatus::ERROR, "Overheating");
} else {
stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "Normal");
}
stat.add("temp", temp);
}
TopicDiagnostic to monitor publication rates.