We have always used the diagnostics not only for monitoring hardware, but also software behavior. You can monitor the tf topic frequency in the same way you monitor a camera topic. In that sense hardware_id has been something inconvenient, I don't know if it makes sense for ROS2 to rename it to something more generic. --- [Visit Topic](https://discourse.ros.org/t/diagnostic-aggregator-and-diagnostic-updater-porting-to-ros2/6382/5) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: