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:
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.