Add add_analyzer functionality

[MartinCornelis2]

Applied the following changes to allow adding analyzers at runtime similar to the ROS1 functionality.

• Move the creation of analyzer_group_ and other_analyzer_ from the constructor to a new function initAnalyzers().

• Added a subscriber to parameter events param_sub_ that triggers a callback parameterCallback.

• Check in the callback if this node got any new paramters -> if true, lock the mutex and call initAnalyzers() again.

• Created an add_analyzer node that forwards its own parameters to the diagnostic_aggregator by sending a request to /diagnostics_agg/set_parameters_atomically service

• (EDIT) [The add_analyzer looks for all parameters starting with the prefix analyzers.,] has been replaced with [The add_analyzer looks for all parameters for which a similar named parameter exists with the suffix ".path"] converts them to a parameter_msg and sends them together as one SetParametersAtomically::Request

Example usage:

<node name="add_my_analyzer" pkg="diagnostic_aggregator" exec="add_analyzer" >
        <param from="$(find-pkg-share <pkg_name>)/param/<param_file_path>.yaml" allow_substs="true"/>
        <remap from="/diagnostics_agg/set_parameters_atomically" to="/diagnostics_autonomy/set_parameters_atomically" />
</node>

[ct2034]

Thanks for adding this feature.
Please add

• information on the usage in diagnostic_aggregator/README.md
• a test that initializes a new analyzer at runtime

[Timple]

Looks like all comments where addressed. Any chance for a re-review?

[Timple]

If I may be so bold... Since there's a lot of maintenance effort going on: can this get a re-review? 🙂

[ct2034]

Of course. Let's use the momentum while it lasts ;-)

[ct2034]

https://build.ros2.org/job/Rpr__diagnostics__ubuntu_noble_amd64/27/ fails due to PyCQA/flake8#646

[ct2034]

💚 All backports created successfully

Status	Branch	Result
✅	ros2-humble
✅	ros2-iron
✅	ros2-jazzy

Questions ?

Please refer to the Backport tool documentation