Add controlling topic expected frequencies and tolerances through ROS 2 parameters

.github/workflows/debian-packages.yml

@@ -151,10 +151,10 @@ jobs:
         ls -la debian_packages/${{ matrix.ros_distro }}/
 
         # Install the debian packages on top of ros-core
-        apt-get install -y ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces_*.deb ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-greenwave-monitor_*.deb
+        apt-get install -y ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-greenwave-monitor_*.deb
 
         # Verify packages are installed
-        dpkg -s ros-${{ matrix.ros_distro }}-greenwave-monitor ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces
+        dpkg -s ros-${{ matrix.ros_distro }}-greenwave-monitor
       shell: bash
       env:
         DEBIAN_FRONTEND: noninteractive

docs/images/SERVICES.md

@@ -1,37 +1,51 @@
-# Services
+# Parameters
 
-The Greenwave Monitor provides two services. The `ManageTopic` service dynamically adds or removes topics from monitoring. The `SetExpectedFrequency` service dynamically sets or clears expected frequencies for a specified topic, which enables additional diagnostic values and statuses.
+The Greenwave Monitor uses ROS parameters for all topic configuration, including enabling/disabling monitoring and setting expected frequencies.
 
-## Manage Topic
+## Topic Monitoring Control
 
-The monitor node exposes a `/greenwave_monitor/manage_topic` service that follows the `greenwave_monitor_interfaces/srv/ManageTopic` service definition.
+Topics can be enabled or disabled via the `greenwave_diagnostics.<topic>.enabled` parameter.
 
 **Usage Examples**
 
-To add a topic to the monitoring list:
+To enable monitoring for a topic:
 ```bash
-ros2 service call /greenwave_monitor/manage_topic greenwave_monitor_interfaces/srv/ManageTopic "{topic_name: '/topic2', add_topic: true}"
+ros2 param set /greenwave_monitor greenwave_diagnostics./topic2.enabled true
 ```
 
-To remove a topic from the monitoring list:
+To disable monitoring for a topic:
 ```bash
-ros2 service call /greenwave_monitor/manage_topic greenwave_monitor_interfaces/srv/ManageTopic "{topic_name: '/topic2', add_topic: false}"
+ros2 param set /greenwave_monitor greenwave_diagnostics./topic2.enabled false
 ```
 
-## Set Expected Frequency
+## Expected Frequency Parameters
 
-The monitor node exposes a `/greenwave_monitor/set_expected_frequency` service that follows the `greenwave_monitor_interfaces/srv/SetExpectedFrequency` service definition.
+Expected frequencies are configured via ROS parameters with the following naming convention:
+- `greenwave_diagnostics.<topic>.expected_frequency` - Expected publish rate in Hz
+- `greenwave_diagnostics.<topic>.tolerance` - Tolerance percentage (default: 5.0%)
 
 **Usage Examples**
 
 To set the expected frequency for a topic:
 ```bash
-ros2 service call /greenwave_monitor/set_expected_frequency greenwave_monitor_interfaces/srv/SetExpectedFrequency "{topic_name: '/topic2', expected_hz: <float>, tolerance_percent: <float>, add_topic_if_missing: true}"
+ros2 param set /greenwave_monitor greenwave_diagnostics./topic2.expected_frequency 30.0
+ros2 param set /greenwave_monitor greenwave_diagnostics./topic2.tolerance 10.0
 ```
 
-To clear the expected frequency for a topic:
+Parameters can also be set at launch time via YAML:
+```yaml
+greenwave_monitor:
+  ros__parameters:
+    greenwave_diagnostics./topic2.expected_frequency: 30.0
+    greenwave_diagnostics./topic2.tolerance: 10.0
+    greenwave_diagnostics./topic2.enabled: true
+```
+
+Or via command line:
 ```bash
-ros2 service call /greenwave_monitor/set_expected_frequency greenwave_monitor_interfaces/srv/SetExpectedFrequency "{topic_name: '/topic2', clear_expected: true}"
+ros2 run greenwave_monitor greenwave_monitor --ros-args \
+  -p greenwave_diagnostics./topic2.expected_frequency:=30.0 \
+  -p greenwave_diagnostics./topic2.tolerance:=10.0
 ```
 
 Note: The topic name must include the leading slash (e.g., '/topic2' not '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>)
 
@@ -34,9 +34,8 @@ ament_target_dependencies(greenwave_monitor
   rclcpp
   std_msgs
   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 +50,7 @@ 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>
   $<INSTALL_INTERFACE:include>)
@@ -60,7 +59,7 @@ install(TARGETS minimal_publisher_node
   DESTINATION lib/${PROJECT_NAME})
 
 install(
-  DIRECTORY launch examples
+  DIRECTORY launch examples config
   DESTINATION share/${PROJECT_NAME}
 )
 
@@ -116,22 +115,28 @@ if(BUILD_TESTING)
     WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
   )
 
+  # Add parameter-based topic configuration tests
+  ament_add_pytest_test(test_parameters test/test_parameters.py
+    TIMEOUT 120
+    WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+  )
+
   # 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 +149,7 @@ 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/greenwave_monitor.yaml

@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    # All topics declared in greenwave_diagnostics will be automatically monitored
+    #  if detected at startup.
+    greenwave_diagnostics:
+      /params_from_yaml_topic:
+        enabled: true
+        expected_frequency: 10.0
+        tolerance: 5.0

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.
@@ -12,51 +12,97 @@
 # 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():
+    config_file = os.path.join(
+        get_package_share_directory('greenwave_monitor'),
+        'config',
+        'greenwave_monitor.yaml'
+    )
     return LaunchDescription([
         Node(
             package='greenwave_monitor',
             executable='minimal_publisher_node',
-            name='minimal_publisher1',
+            name='minimal_publisher_imu',
             output='log',
             parameters=[
-                {'topic': 'imu_topic', 'frequency_hz': 100.0}
+                {
+                    'topic': '/imu_topic', 'frequency_hz': 100.0,
+                    'greenwave_diagnostics': {
+                        '/imu_topic': {'expected_frequency': 100.0, 'tolerance': 5.0}
+                    }
+                }
             ],
         ),
         Node(
             package='greenwave_monitor',
             executable='minimal_publisher_node',
-            name='minimal_publisher2',
+            name='minimal_publisher_image',
             output='log',
             parameters=[
-                {'topic': 'image_topic', 'message_type': 'image', 'frequency_hz': 30.0}
+                {
+                    'topic': '/image_topic', 'message_type': 'image', 'frequency_hz': 30.0,
+                    'greenwave_diagnostics': {
+                        '/image_topic': {'expected_frequency': 30.0, 'tolerance': 5.0}
+                    }
+                }
             ],
         ),
         Node(
             package='greenwave_monitor',
             executable='minimal_publisher_node',
-            name='minimal_publisher3',
+            name='minimal_publisher_string',
             output='log',
             parameters=[
-                {'topic': 'string_topic', 'message_type': 'string', 'frequency_hz': 1000.0}
+                {
+                    'topic': '/string_topic', 'message_type': 'string', 'frequency_hz': 1000.0,
+                    'greenwave_diagnostics': {
+                        '/string_topic': {'expected_frequency': 1000.0, 'tolerance': 10.0}
+                    }
+                }
             ],
         ),
         Node(
             package='greenwave_monitor',
-            executable='greenwave_monitor',
-            name='greenwave_monitor',
+            executable='minimal_publisher_node',
+            name='minimal_publisher_params_from_yaml',
+            output='log',
+            parameters=[
+                {
+                    'topic': '/params_from_yaml_topic', 'message_type': 'imu',
+                    'frequency_hz': 10.0, 'enable_greenwave_diagnostics': False
+                }
+            ],
+        ),
+        Node(
+            package='greenwave_monitor',
+            executable='minimal_publisher_node',
+            name='minimal_publisher_no_startup_monitor',
             output='log',
             parameters=[
-                {'topics': ['/imu_topic', '/image_topic', '/string_topic']}
+                {
+                    'topic': '/no_startup_monitor_topic', 'message_type': 'imu',
+                    'frequency_hz': 1.0, 'enable_greenwave_diagnostics': False
+                }
             ],
         ),
+        Node(
+            package='greenwave_monitor',
+            executable='greenwave_monitor',
+            name='greenwave_monitor',
+            output='log',
+            parameters=[config_file]
+        ),
         LogInfo(
-            msg='Run `ros2 run r2s_gw r2s_gw` in another terminal to see the demo output '
+            msg='Follow the instructions to setup r2s_gw in the README.md, then run '
+                '`ros2 run r2s_gw r2s_gw` in another terminal to see the demo output '
                 'with the r2s dashboard.'
-        ),
+        )
     ])

greenwave_monitor/greenwave_monitor/ncurses_frontend.py

@@ -335,10 +335,10 @@ def curses_main(stdscr, node):
                         diag.latency.ljust(REALTIME_DELAY_WIDTH)
                         if diag.latency != '-' else 'N/A'.ljust(REALTIME_DELAY_WIDTH))
 
-                # Get expected frequency
-                expected_hz, tolerance = node.ui_adaptor.get_expected_frequency(topic_name)
-                if expected_hz > 0:
-                    expected_freq_display = f'{expected_hz:.1f}Hz'.ljust(12)
+                # Get expected frequency with tolerance
+                expected_freq_str = node.ui_adaptor.get_expected_frequency_str(topic_name)
+                if expected_freq_str != '-':
+                    expected_freq_display = expected_freq_str.ljust(14)
 
             # Color coding based on status
             if is_monitored: