Distro	Build dev	Release
ROS 2 Humble (u22.04)
ROS 2 Jazzy (u24.04)
ROS 2 Kilted (u24.04)
ROS 2 Rolling (u24.04)

EOL Distro	Last release
ROS 2 Iron (u22.04)

mrpt_sensors

ROS nodes for various robotics sensors via mrpt-hwdrivers.

All packages follow REP-2003 regarding ROS 2 topic QoS.

Table of Contents

• Diagnostics support
• mrpt_sensor_bumblebee_stereo
• mrpt_sensor_gnss_nmea
• mrpt_sensor_gnss_novatel
• mrpt_sensor_imu_taobotics
• mrpt_sensor_velodyne
• novatel_oem6_msgs
• Individual package build status

Diagnostics support

All sensor nodes in this package publish ROS 2 diagnostics to the /diagnostics topic via the diagnostic_updater package. The diagnostic status tracks these conditions:

ROS 2 parameters controlling diagnostic thresholds and retry behavior (settable at launch or via ros2 param set):

The diagnostic status also reports the measured observation rate, the observation count, and the hardware ID (node name).

Viewing diagnostics

Echo the raw topic directly:

ros2 topic echo /diagnostics

For a human-friendly live view, use rqt_runtime_monitor or the ros2 run equivalent:

ros2 run rqt_runtime_monitor rqt_runtime_monitor

Running a diagnostic aggregator

The diagnostic_aggregator collects and categorizes /diagnostics messages into /diagnostics_agg. This is required by tools such as robot_monitor. To launch one quickly for testing, install the package and create a minimal analyzers config:

sudo apt install ros-${ROS_DISTRO}-diagnostic-aggregator

Create a file analyzers.yaml:

analyzers:
  ros__parameters:
    path: Sensors
    sensors:
      type: diagnostic_aggregator/GenericAnalyzer
      path: Sensors
      contains:
        - 'Sensor status'

Then run the aggregator with that config:

```bash ros2 run diagnostic_aggregator aggregator_node –ros-args
–params-file analyzers.yaml

File truncated at 100 lines see the full file