chore: use diagnostic_updater.use_fqn parameter

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>
tier4 · Nov 6, 2024 · a71032c · a71032c
1 parent cfde492
commit a71032c
Showing 1 changed file with 7 additions and 12 deletions.
diff --git a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
@@ -4,6 +4,7 @@
 
 #include "nebula_ros/common/parameter_descriptors.hpp"
 
+#include <diagnostic_updater/diagnostic_updater.hpp>
 #include <nebula_common/nebula_common.hpp>
 
 namespace nebula
@@ -15,7 +16,8 @@ HesaiHwMonitorWrapper::HesaiHwMonitorWrapper(
   const std::shared_ptr<nebula::drivers::HesaiHwInterface> & hw_interface,
   std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config)
 : logger_(parent_node->get_logger().get_child("HwMonitor")),
-  diagnostics_updater_(parent_node),
+  diagnostics_updater_(
+    (parent_node->declare_parameter<bool>("diagnostic_updater.use_fqn", true), parent_node)),
   status_(Status::OK),
   hw_interface_(hw_interface),
   parent_node_(parent_node)
@@ -77,18 +79,11 @@ void HesaiHwMonitorWrapper::InitializeHesaiDiagnostics()
   diagnostics_updater_.setHardwareID(hardware_id);
   RCLCPP_INFO_STREAM(logger_, "Hardware ID: " + hardware_id);
 
+  diagnostics_updater_.add("hesai_status", this, &HesaiHwMonitorWrapper::HesaiCheckStatus);
+  diagnostics_updater_.add("hesai_ptp", this, &HesaiHwMonitorWrapper::HesaiCheckPtp);
   diagnostics_updater_.add(
-    std::string(parent_node_->get_namespace()) + " :hesai_status", this,
-    &HesaiHwMonitorWrapper::HesaiCheckStatus);
-  diagnostics_updater_.add(
-    std::string(parent_node_->get_namespace()) + " :hesai_ptp", this,
-    &HesaiHwMonitorWrapper::HesaiCheckPtp);
-  diagnostics_updater_.add(
-    std::string(parent_node_->get_namespace()) + " :hesai_temperature", this,
-    &HesaiHwMonitorWrapper::HesaiCheckTemperature);
-  diagnostics_updater_.add(
-    std::string(parent_node_->get_namespace()) + " :hesai_rpm", this,
-    &HesaiHwMonitorWrapper::HesaiCheckRpm);
+    "hesai_temperature", this, &HesaiHwMonitorWrapper::HesaiCheckTemperature);
+  diagnostics_updater_.add("hesai_rpm", this, &HesaiHwMonitorWrapper::HesaiCheckRpm);
 
   current_status_.reset();
   current_monitor_.reset();