Lifecycle node and diagnostics

To enable these features, please use the feature/lifecycle branch: https://github.com/fixposition/fixposition_driver/tree/feature/lifecycle.

Diagnostics

The ROS2 driver can publish health status to /diagnostics using diagnostic_updater.

Enable it in launch/config.yaml:

diagnostics:
  enabled: true
  rate_hz: 1.0
  timeout_ms: 1000
  hardware_id: "fixposition_driver"

Diagnostics summarize driver connectivity and FP_A status streams (ODOMSTATUS, GNSSCORR, GNSSANT, TEXT).

If a stream is disabled or missing, the corresponding diagnostic task reports OK (disabled) or WARN (no data yet).

Lifecycle Node

There is a lifecycle variant of the node so you can control configure/activate transitions.

Launch it with:

ros2 launch fixposition_driver_ros2 lifecycle.launch

Then drive the lifecycle:

ros2 lifecycle set /fixposition_driver_ros2 configure
ros2 lifecycle set /fixposition_driver_ros2 activate

The node name is configurable via launch/lifecycle.launch (node_name argument), and it uses the same launch/config.yaml.