feat: add publish_values parameter

diagnostic_aggregator/include/diagnostic_aggregator/aggregator.hpp

@@ -159,6 +159,11 @@ class Aggregator
    */
   bool critical_;
 
+  /*!
+   *\brief If true, the aggregator will publish "values" for each DiagnosticStatus
+   */
+  bool publish_values_;
+
   /*!
    *\brief Store the last top level value to publish the critical error only once.
    */

diagnostic_aggregator/mainpage.dox

@@ -50,6 +50,7 @@ Reads the following parameters from the parameter server
 - \b "~base_path" : \b double [optional] Prepended to all analyzed output
 - \b "~analyzers" : \b {} Configuration for loading analyzers
 - \b "~critical" : \b bool [optional] React immediately to a degradation in diagnostic state
+- \b "~publish_values: \b bool [optional] Publish the "values" for each diagnostic status. Default: "true"
 
 \subsection analyzer_loader analyzer_loader
 

diagnostic_aggregator/src/aggregator.cpp

@@ -67,6 +67,7 @@ Aggregator::Aggregator()
   clock_(n_->get_clock()),
   base_path_(""),
   critical_(false),
+  publish_values_(true),
   last_top_level_state_(DiagnosticStatus::STALE)
 {
   RCLCPP_DEBUG(logger_, "constructor");
@@ -123,6 +124,8 @@ void Aggregator::initAnalyzers()
       history_depth_ = param.second.as_int();
     } else if (param.first.compare("critical") == 0) {
       critical_ = param.second.as_bool();
+    } else if (param.first.compare("publish_values") == 0) {
+      publish_values_ = param.second.as_bool();
     }
   }
   RCLCPP_DEBUG(logger_, "Aggregator publication rate configured to: %f", pub_rate_);
@@ -131,6 +134,8 @@ void Aggregator::initAnalyzers()
     logger_, "Aggregator other_as_errors configured to: %s", (other_as_errors ? "true" : "false"));
   RCLCPP_DEBUG(
     logger_, "Aggregator critical publisher configured to: %s", (critical_ ? "true" : "false"));
+  RCLCPP_DEBUG(
+    logger_, "Aggregator publish_values configured to: %s", (publish_values_ ? "true" : "false"));
 
   {  // lock the mutex while analyzer_group_ and other_analyzer_ are being updated
     std::lock_guard<std::mutex> lock(mutex_);
@@ -244,6 +249,13 @@ void Aggregator::publishData()
     }
   }
 
+  // If "publish_values" is false, clear all values
+  if (!publish_values_) {
+    for (auto & status : diag_array.status) {
+      status.values.clear();
+    }
+  }
+
   diag_array.header.stamp = clock_->now();
   agg_pub_->publish(diag_array);