Ros2cli diagnostics

.github/workflows/lint.yaml

@@ -36,4 +36,5 @@ jobs:
             diagnostic_aggregator
             diagnostic_common_diagnostics
             diagnostic_updater
+            ros2diagnostics_cli
             self_test

.github/workflows/test.yaml

@@ -19,6 +19,7 @@ jobs:
             diagnostic_aggregator,
             diagnostic_common_diagnostics,
             diagnostic_updater,
+            ros2diagnostics_cli,
             self_test,
           ]
         distro: [foxy, humble, rolling]

ros2diagnostics_cli/README.md

@@ -0,0 +1,152 @@
+# ROS2 diagnostic cli
+
+ROS2 cli to analysis and monitor `/diagnostics` topic
+It's alternative to `diagnostic_analysis` project that not ported yet to ROS2.
+
+The project add `diagnostics` command to ROS2 cli with there verbs.
+
+- list
+- show
+- csv
+
+### list
+Monitor the current diagnostics_status message from `/diagnostics` topic group by Node name and print `diagnostics status` name
+
+```bash
+ros2 diagnostics list   
+# Result
+--- time: 1682528234 ---
+diagnostic_simple:
+- DemoTask
+- DemoTask2
+```
+
+### show
+Monitor `/diagnostics` topic and print the diagnostics_status data can filter by level and node/status name
+
+```bash
+ros2 diagnostics show -h
+usage: ros2 diagnostics show [-h] [-1] [-f FILTER] [--verbose] [-l {info,warn,error}]
+
+Show diagnostics status item info
+
+options:
+  -h, --help            show this help message and exit
+  -1, --once            run only once
+  -f FILTER, --filter FILTER
+                        filter diagnostic status name
+  --verbose, -v         Display more info.
+  -l {info,warn,error}, --levels {info,warn,error}
+                        levels to filter, can be multiple times
+```
+
+#### demo
+
+```bash title="show all diagnostics status"
+ros2 diagnostics show
+# 
+--- time: 1682528494 ---
+diagnostic_simple: DemoTask: WARN, running
+diagnostic_simple: DemoTask2: ERROR, bad
+--- time: 1682528495 ---
+diagnostic_simple: DemoTask: WARN, running
+diagnostic_simple: DemoTask2: ERROR, bad
+```
+
+```bash title="filter by level"
+ros2 diagnostics show -l error
+--- time: 1682528568 ---
+diagnostic_simple: DemoTask2: ERROR, bad
+--- time: 1682528569 ---
+diagnostic_simple: DemoTask2: ERROR, bad
+--- time: 1682528570 ---
+```
+
+```bash title="filter by name"
+ros2 diagnostics show -f Task2
+#
+--- time: 1682528688 ---
+diagnostic_simple: DemoTask2: ERROR, bad
+--- time: 1682528689 ---
+diagnostic_simple: DemoTask2: ERROR, bad
+```
+
+```bash title="verbose usage"
+ros2 diagnostics show -l warn -v
+#
+--- time: 1682528760 ---
+diagnostic_simple: DemoTask: WARN, running
+- key1=val1
+- key2=val2
+--- time: 1682528761 ---
+diagnostic_simple: DemoTask: WARN, running
+- key1=val1
+- key2=val2
+
+```
+
+### csv
+Export `/diagnostics` topic to csv file
+
+**CSV headers**:
+- time (sec)
+- level
+- node name
+- diagnostics status name
+- message
+- hardware id
+- values from keyvalue field (only on verbose)
+
+
+```bash
+ros2 diagnostics csv --help
+usage: ros2 diagnostics csv [-h] [-1] [-f FILTER] [-l {info,warn,error}] [--output OUTPUT] [--verbose]
+
+export /diagnostics message to csv file
+
+options:
+  -h, --help            show this help message and exit
+  -1, --once            run only once
+  -f FILTER, --filter FILTER
+                        filter diagnostic status name
+  -l {info,warn,error}, --levels {info,warn,error}
+                        levels to filter, can be multiple times
+  --output OUTPUT, -o OUTPUT
+                        export file full path
+  --verbose, -v         export DiagnosticStatus values filed
+```
+
+#### Demos
+
+```bash title="simple csv file"
+ros2 diagnostics csv -o /tmp/1.csv
+--- time: 1682529183 ---
+1682529183,WARN,diagnostic_simple,DemoTask,running,
+```
+
+```bash title="show csv file"
+cat /tmp/1.csv
+
+1682529183,WARN,diagnostic_simple,DemoTask,running,
+1682529183,ERROR,diagnostic_simple,DemoTask2,bad,
+```
+
+```bash title="filter by level"
+ ros2 diagnostics csv -o /tmp/1.csv -l error
+```
+
+```bash title="filter by name with regex"
+ros2 diagnostics csv -o /tmp/1.csv -f Task$ -v
+```
+
+## Todo
+- More tests
+- Add unit test
+- DEB package and install tests
+- Ideas
+
+
+## Tests
+```
+ros2 launch diagnostic_aggregator example.launch.py
+```

ros2diagnostics_cli/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>ros2diagnostics_cli</name>
+  <version>3.1.2</version>
+  <description>diagnostic command for ROS2 command line, parse and show /diagnostics topic</description>
+  <maintainer email="[email protected]"></maintainer>
+  <maintainer email="[email protected]">Christian Henkel</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <!-- <test_depend>ament_pep257</test_depend> -->
+  <test_depend>python3-pytest</test_depend>
+  <depend>ros2cli</depend>
+  <depend>python3-yaml</depend>
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>