why we need add_analyzer_node in the very 1st place? #670

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1. MCFurry commented on Oct 26, 2026

   

   MCFurry

   on Oct 26, 2026

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   Hmm you might have a point here...

   I know we (@Timple, @MartinCornelis2) needed this in ROS1 and thus ported it over to ROS2 at some point.
   We like to keep analyzers together with a driver in our launch-files, such that for different robot configurations you can decide to load a driver or not and automatically load the diagnostic analyzer for that driver as well.
   In ROS1, loading to the analyzers parameter would overwrite the current list of analyzers however, which is why there was an add_analyzer to dymamically extend the list of active analyzers.

   But testing now in Jazzy, it seems that loading a single analyzer to /diagnostics/analyzers extends the list already! So maybe the need for this node is gone indeed.

   👍React with 👍1Reacted by Tim Clephas
2. MCFurry commented on Oct 26, 2026

   

   MCFurry

   on Oct 26, 2026

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   The only culprit I found so far:

   One can easily replace:

   <node name="add_analyzer_lidar_driver" pkg="diagnostic_aggregator" exec="add_analyzer" >
       <param from="$(find-pkg-share awesome_robot)/param/diagnostic_analyzers/lidar_analyzer.yaml" allow_substs="true"/>
       <remap from="/analyzers/set_parameters_atomically" to="/diagnostics/set_parameters_atomically" />
   </node>
   

   With:

   <executable cmd="ros2 param load /diagnostics $(find-pkg-share awesome_robot)/param/diagnostic_analyzers/lidar_analyzer.yaml"/>
   

   Except that the allow_substs="true" part doesn't work like this...