Add an add_analyzer example to the diagnostic_aggregator

diagnostic_aggregator/CMakeLists.txt

@@ -162,6 +162,7 @@ ament_python_install_package(${PROJECT_NAME})
 
 # Install Example
 set(ANALYZER_PARAMS_FILEPATH "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/example_analyzers.yaml")
+set(ADD_ANALYZER_PARAMS_FILEPATH "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/example_add_analyzers.yaml")
 configure_file(example/example.launch.py.in example.launch.py @ONLY)
 install( # launch descriptor
   FILES ${CMAKE_CURRENT_BINARY_DIR}/example.launch.py
@@ -172,7 +173,7 @@ install( # example publisher
   DESTINATION lib/${PROJECT_NAME}
 )
 install( # example aggregator configration
-  FILES example/example_analyzers.yaml
+  FILES example/example_analyzers.yaml example/example_add_analyzers.yaml
   DESTINATION share/${PROJECT_NAME}
 )
 

diagnostic_aggregator/example/example.launch.py.in

@@ -4,6 +4,7 @@ import launch
 import launch_ros.actions
 
 analyzer_params_filepath = "@ANALYZER_PARAMS_FILEPATH@"
+add_analyzer_params_filepath = "@ADD_ANALYZER_PARAMS_FILEPATH@"
 
 
 def generate_launch_description():
@@ -12,11 +13,18 @@ def generate_launch_description():
         executable='aggregator_node',
         output='screen',
         parameters=[analyzer_params_filepath])
+    add_analyzer = launch_ros.actions.Node(
+        package='diagnostic_aggregator',
+        executable='add_analyzer',
+        output='screen',
+        parameters=[add_analyzer_params_filepath]
+    )
     diag_publisher = launch_ros.actions.Node(
         package='diagnostic_aggregator',
         executable='example_pub.py')
     return launch.LaunchDescription([
         aggregator,
+        add_analyzer,
         diag_publisher,
         launch.actions.RegisterEventHandler(
             event_handler=launch.event_handlers.OnProcessExit(

diagnostic_aggregator/example/example_add_analyzers.yaml

@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    optional:
+      type: diagnostic_aggregator/GenericAnalyzer
+      path: Optional
+      contains: [ '/optional' ]

diagnostic_aggregator/example/example_pub.py

@@ -81,6 +81,10 @@ def __init__(self):
                              name='/sensors/front/cam', message='OK'),
             DiagnosticStatus(level=DiagnosticStatus.OK,
                              name='/sensors/rear/cam', message='OK'),
+
+            # Optional
+            DiagnosticStatus(level=DiagnosticStatus.OK,
+                            name='/optional/runtime/analyzer', message='OK'),
         ]
 
     def timer_callback(self):