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Diagnostic master entry point and main class.

Classes:

  • DiagMaster –

    Diagnostic master providing a web UI and ROS 2 diagnostics.

Functions:

DiagMaster 

DiagMaster(
    topic: str,
    sync_graph_factory: Callable[[], SyncGraph],
    update_expiry: timedelta,
    enable_ros2_diagnostics: bool,
    enable_web_ui: bool,
)

Diagnostic master providing a web UI and ROS 2 diagnostics.

The master subscribes to graph updates on a given ROS 2 topic, builds a synchronization graph from the received updates, and provides diagnostics via ROS 2 and a web UI.

To guarantee stable performance in the presence of network or scheduling delays, graph updates are accumulated over a short time window (given by update_expiry), and merged to build a synchronization graph. Newer updates overwrite older ones for the same entities. Any updates received earlier than update_expiry are automatically dropped.

Parameters:

  • topic (str) –

    ROS 2 topic to subscribe to for graph updates.

  • sync_graph_factory (Callable[[], SyncGraph]) –

    Factory function to create SyncGraph instances.

  • update_expiry (timedelta) –

    How long to keep updates before expiring them.

  • enable_ros2_diagnostics (bool) –

    Whether to publish ROS 2 diagnostics.

  • enable_web_ui (bool) –

    Whether to start the web UI server.

Methods:

  • on_diagnostic_timer –

    Periodic callback to run diagnostics, update the web UI and publish ROS 2 diagnostics.

  • on_graph_update –

    Handle an incoming graph update.

  • shutdown –

    Clean up resources and shut down the node.

Attributes:

  • sync_graph –

    Build and return the current sync graph from queued updates.

sync_graph property 

sync_graph

Build and return the current sync graph from queued updates.

on_diagnostic_timer 

on_diagnostic_timer()

Periodic callback to run diagnostics, update the web UI and publish ROS 2 diagnostics.

on_graph_update 

on_graph_update(u: GraphUpdate)

Handle an incoming graph update.

shutdown 

shutdown()

Clean up resources and shut down the node.

initialize_master 

initialize_master(args: Args)

Create and configure the diagnostic master from args.

main 

main()

Entry point for the diagnostic master.

parse_args 

parse_args() -> Args

Parse command-line arguments.

read_configs_raw 

read_configs_raw(config_paths: list[str])

Read and merge multiple YAML config files.

Later files take precedence over earlier ones.