mainpage.dox

/**

@mainpage diagnostic_updater

@htmlinclude manifest.html

\b \ref diagnostic_updater contains assorted C++ classes to assist in diagnostic
publication. These libraries are commonly used by device drivers as part of the diagnostics toolchain. The main parts of diagnostic_updater are:

 - \ref diagnostic_updater::DiagnosticStatusWrapper, a wrapper providing
   convenience functions for working with \ref
   diagnostics_msgs::DiagnosticStatus.

 - \ref Updater, a class for managing periodic publishing of the \ref
   diagnostic_updater::DiagnosticStatusWrapper output by a set of \ref
   diagnostic_updater::DiagnosticTask.

 - \ref diagnostic_updater::TopicDiagnostic and \ref
   diagnostic_updater::HeaderlessTopicDiagnostic for calculating and
   publishing statistics on timestamps and publication frequencies, and
   their corresponding \ref diagnostic_updater::DiagnosedPublisher and \ref
   diagnostic_updater::HeaderlessDiagnosedPublisher to update the
   statistics automatically when publications are made to a topic.

Example uses of these classes can be found in \ref src/example.cpp.
 
 */