This tutorial will help you set up and configure a diagnostic aggregator, using the PR2 as an example. The Aggregator can be configured for a robot or type of robot to perform basic analysis on the diagnostics.

An example of how to write your own diagnostic analyzer plug-in for the diagnostic_aggregator.

Use launch files or bonds and a service to add a new set of analyzers to the aggregator.

Uses the GenericAnalyzer to analyze diagnostics from EtherCAT devices, hardware drivers and robot computers. Shows the complete feature set of the GenericAnalyzer.