Use parameter yaml on startup for configuring greenwave monitor + rename to greenwave diagnostics (#22)

Add support for ROS parameter YAML on startup and rename message diagnostics to greenwave diagnostics to match parameter yaml group name. Look at the example.yaml if you want to see how it is integrated.

Fixes a few bugs/makes the system robust also. Specifically #16 .

Author: bmchalenv

README.md

@@ -108,5 +108,5 @@ You can of course also launch the node standalone, or incorporate it into your o
 If you want to use it as a command line tool, you can do so with the following launch file:
 
 ```bash
-ros2 launch greenwave_monitor hz.launch.py topics:='["/topic1", "/topic2"]'
+ros2 launch greenwave_monitor hz.launch.py gw_monitored_topics:='["/topic1", "/topic2"]'
 ```

greenwave_monitor/CMakeLists.txt

@@ -23,9 +23,9 @@ endif()
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-# Add message_diagnostics.hpp as a header-only library
-add_library(message_diagnostics INTERFACE)
-target_include_directories(message_diagnostics INTERFACE
+# Add greenwave_diagnostics.hpp as a header-only library
+add_library(greenwave_diagnostics INTERFACE)
+target_include_directories(greenwave_diagnostics INTERFACE
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
 
@@ -36,7 +36,7 @@ ament_target_dependencies(greenwave_monitor
   diagnostic_msgs
   greenwave_monitor_interfaces
 )
-target_link_libraries(greenwave_monitor message_diagnostics)
+target_link_libraries(greenwave_monitor greenwave_diagnostics)
 
 target_include_directories(greenwave_monitor PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -51,7 +51,7 @@ add_executable(minimal_publisher_node
   src/minimal_publisher_node.cpp
   src/minimal_publisher_main.cpp)
 ament_target_dependencies(minimal_publisher_node rclcpp std_msgs sensor_msgs diagnostic_msgs)
-target_link_libraries(minimal_publisher_node message_diagnostics)
+target_link_libraries(minimal_publisher_node greenwave_diagnostics)
 target_include_directories(minimal_publisher_node PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
@@ -60,7 +60,7 @@ install(TARGETS minimal_publisher_node
   DESTINATION lib/${PROJECT_NAME})
 
 install(
-  DIRECTORY launch examples
+  DIRECTORY launch examples config
   DESTINATION share/${PROJECT_NAME}
 )
 
@@ -117,21 +117,21 @@ if(BUILD_TESTING)
   )
 
   # Add gtests
-  ament_add_gtest(test_message_diagnostics test/test_message_diagnostics.cpp
+  ament_add_gtest(test_greenwave_diagnostics test/test_greenwave_diagnostics.cpp
     TIMEOUT 60
     WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
   )
-  ament_target_dependencies(test_message_diagnostics
+  ament_target_dependencies(test_greenwave_diagnostics
     rclcpp
     std_msgs
     diagnostic_msgs
   )
-  target_link_libraries(test_message_diagnostics message_diagnostics)
-  target_include_directories(test_message_diagnostics PUBLIC
+  target_link_libraries(test_greenwave_diagnostics greenwave_diagnostics)
+  target_include_directories(test_greenwave_diagnostics PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
   )
-  target_compile_features(test_message_diagnostics PUBLIC c_std_99 cxx_std_17)
+  target_compile_features(test_greenwave_diagnostics PUBLIC c_std_99 cxx_std_17)
 
   ament_add_gtest(test_minimal_publisher
     test/test_minimal_publisher.cpp
@@ -144,7 +144,7 @@ if(BUILD_TESTING)
     sensor_msgs
     diagnostic_msgs
   )
-  target_link_libraries(test_minimal_publisher message_diagnostics)
+  target_link_libraries(test_minimal_publisher greenwave_diagnostics)
   target_include_directories(test_minimal_publisher PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>

greenwave_monitor/config/example.yaml

@@ -0,0 +1,36 @@
+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+# Example configuration for greenwave_monitor
+# Defines topics to monitor with their expected frequencies and tolerances
+
+greenwave_monitor:
+  ros__parameters:
+    # gw_monitored_topics parameter specifies topics to monitor that do not require expected
+    # frequencies or tolerances.
+    gw_monitored_topics: ['/string_topic']
+    # gw_frequency_monitored_topics parameter specifies the topics to monitor and their
+    # expected frequencies and tolerances.
+    gw_frequency_monitored_topics:
+      /imu_topic:
+        expected_frequency: 100.0
+        tolerance: 10.0
+      /image_topic:
+        # If an invalid frequency is provided (e.g. 0.0), the topic will be monitored but no
+        # expected frequency will be set.
+        expected_frequency: 0.0
+        # Invalid tolerance values are clamped to 0.0.
+        tolerance: -10.0

greenwave_monitor/examples/README.md

@@ -26,7 +26,7 @@ Node(
     name='greenwave_monitor',
     output='screen',  # or 'log' if you want to add monitoring without terminal output
     parameters=[
-        {'topics': ['/your_topic_1', '/your_topic_2']}  # List your topics to monitor
+        {'gw_monitored_topics': ['/your_topic_1', '/your_topic_2']}  # List your topics to monitor
     ],
 ),
 ```

greenwave_monitor/examples/example.launch.py

@@ -1,4 +1,4 @@
-# Copyright (c) 2025, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2025-2026, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,12 +12,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
+
+from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import LogInfo
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
+    pkg_share = get_package_share_directory('greenwave_monitor')
+    config_file = os.path.join(pkg_share, 'config', 'example.yaml')
+
     return LaunchDescription([
         Node(
             package='greenwave_monitor',
@@ -51,9 +57,16 @@ def generate_launch_description():
             executable='greenwave_monitor',
             name='greenwave_monitor',
             output='log',
-            parameters=[
-                {'topics': ['/imu_topic', '/image_topic', '/string_topic']}
-            ],
+            # Example of inline parameter settings
+            # parameters=[{
+            #     'gw_monitored_topics': ['/string_topic'],
+            #     'gw_frequency_monitored_topics': {
+            #         '/imu_topic': {'expected_frequency': 100.0, 'tolerance': 10.0},
+            #         '/image_topic': {'expected_frequency': 0.0, 'tolerance': -10.0}
+            #     }
+            # }],
+            # Example of using a config file
+            parameters=[config_file],
         ),
         LogInfo(
             msg='Run `ros2 run r2s_gw r2s_gw` in another terminal to see the demo output '

greenwave_monitor/greenwave_monitor/ncurses_frontend.py

@@ -337,7 +337,7 @@ def curses_main(stdscr, node):
 
                 # Get expected frequency
                 expected_hz, tolerance = node.ui_adaptor.get_expected_frequency(topic_name)
-                if expected_hz > 0:
+                if expected_hz > 0.0:
                     expected_freq_display = f'{expected_hz:.1f}Hz'.ljust(12)
 
             # Color coding based on status

greenwave_monitor/greenwave_monitor/test_utils.py

@@ -19,7 +19,7 @@
 
 import math
 import time
-from typing import List, Optional, Tuple
+from typing import Any, List, Optional, Tuple
 
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
 from greenwave_monitor_interfaces.srv import ManageTopic, SetExpectedFrequency
@@ -32,9 +32,10 @@
 # (message_type, expected_frequency, tolerance_hz)
 # NOTE: Tolerances and frequencies are set conservatively for reliable operation
 # on slow/loaded CI systems such as the ROS buildfarm. The 30% tolerance standard
-# ensures tests pass even under system load.
+# ensures tests pass even under system load. Low frequencies (1 Hz) use 50%
+# tolerance due to higher timing variability.
 TEST_CONFIGURATIONS = [
-    ('imu', 1.0, 0.3),
+    ('imu', 1.0, 0.6),
     ('imu', 100.0, 30.0),
     ('imu', 500.0, 150.0),
     ('image', 10.0, 3.0),
@@ -65,19 +66,17 @@ def create_minimal_publisher(
 
 def create_monitor_node(namespace: str = MONITOR_NODE_NAMESPACE,
                         node_name: str = MONITOR_NODE_NAME,
-                        topics: List[str] = None):
+                        parameters: List[dict[str, Any]] = None):
     """Create a greenwave_monitor node for testing."""
-    if topics is None:
-        topics = ['/test_topic']
+    if parameters is None:
+        parameters = [{'gw_monitored_topics': ['/test_topic']}]
 
     return launch_ros.actions.Node(
         package='greenwave_monitor',
         executable='greenwave_monitor',
         name=node_name,
         namespace=namespace,
-        parameters=[{
-            'topics': topics
-        }],
+        parameters=parameters,
         output='screen'
     )
 

greenwave_monitor/greenwave_monitor/ui_adaptor.py

@@ -57,6 +57,8 @@ class UiDiagnosticData:
 
     """
 
+    expected_frequency: str = '-'
+    tolerance: str = '-'
     pub_rate: str = '-'
     msg_rate: str = '-'
     latency: str = '-'
@@ -85,6 +87,10 @@ def from_status(cls, status: DiagnosticStatus) -> 'UiDiagnosticData':
                 data.msg_rate = kv.value
             elif kv.key == 'current_delay_from_realtime_ms':
                 data.latency = kv.value
+            elif kv.key == 'expected_frequency':
+                data.expected_frequency = kv.value
+            elif kv.key == 'tolerance':
+                data.tolerance = kv.value
         return data
 
 
@@ -142,7 +148,7 @@ def _extract_topic_name(self, diagnostic_name: str) -> str:
         - NITROS: node_name + namespace + "/" + topic (e.g., "my_node/ns/camera/image")
         - Greenwave: topic_name only (e.g., "/ns/camera/image")
 
-        This is a temporary hack until NITROS migrates to message_diagnostics.hpp.
+        This is a temporary hack until NITROS migrates to greenwave_diagnostics.hpp.
         """
         # If the name starts with '/', it's already just a topic name (Greenwave format)
         if diagnostic_name.startswith('/'):
@@ -167,6 +173,16 @@ def _on_diagnostics(self, msg: DiagnosticArray):
                 # Normalize the topic name to handle both NITROS and Greenwave formats
                 topic_name = self._extract_topic_name(status.name)
                 self.ui_diagnostics[topic_name] = ui_data
+                try:
+                    expected_frequency = float(ui_data.expected_frequency)
+                    tolerance = float(ui_data.tolerance)
+                    if expected_frequency > 0 and tolerance >= 0:
+                        self.expected_frequencies[topic_name] = (expected_frequency, tolerance)
+                    else:
+                        self.expected_frequencies.pop(topic_name, None)
+                except (ValueError, TypeError):
+                    # Skip updating expected_frequencies if values aren't numeric
+                    self.expected_frequencies.pop(topic_name, None)
 
     def toggle_topic_monitoring(self, topic_name: str):
         """Toggle monitoring for a topic."""