Havent had time to work on any of this recently. @karsten created a PR a couple weeks back to update diagnostic updater to work with ros2 ardent (and updated the urg packages as well). The other diagnostic packages have not yet been updated.
I just created [this PR](
https://github.com/ros/diagnostics/pull/71) to make the ros2 changes more visible and eventually get them merged into a single repo.
Hope this answers your question.
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