From ba315fd5e6175269b94b1c47dca65564ee8ab144 Mon Sep 17 00:00:00 2001
From: aj0khi <khidri.ajmal@gmail.com>
Date: Sun, 23 Aug 2026 10:35:56 -0600
Subject: [PATCH] Improve live diagnostics messages

---
 .../scripts/temporary_diagnostics_publisher.py               | 5 +++++
 waybionic_rviz_plugins/src/ros_diagnostics_source.cpp        | 2 +-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/waybionic_rviz_plugins/scripts/temporary_diagnostics_publisher.py b/waybionic_rviz_plugins/scripts/temporary_diagnostics_publisher.py
index 4a3f7a3..59081e4 100755
--- a/waybionic_rviz_plugins/scripts/temporary_diagnostics_publisher.py
+++ b/waybionic_rviz_plugins/scripts/temporary_diagnostics_publisher.py
@@ -70,30 +70,35 @@ def build_statuses(self, mode):
                 make_status(
                     'board.temperature',
                     DiagnosticStatus.OK,
+                    'Normal Temperature',
                     value=f'{42.0 + pulse:.1f}',
                     unit='C',
                 ),
                 make_status(
                     'motor.current',
                     DiagnosticStatus.OK,
+                    'Normal Motor Current',
                     value=f'{0.8 + pulse * 0.05:.2f}',
                     unit='A',
                 ),
                 make_status(
                     'imu.roll',
                     DiagnosticStatus.OK,
+                    'Roll Normal',
                     value=f'{1.2 + pulse * 0.1:.1f}',
                     unit='deg',
                 ),
                 make_status(
                     'imu.pitch',
                     DiagnosticStatus.OK,
+                    'Pitch Normal',
                     value=f'{-0.4 + pulse * 0.1:.1f}',
                     unit='deg',
                 ),
                 make_status(
                     'imu.yaw',
                     DiagnosticStatus.OK,
+                    'Yaw Normal',
                     value=f'{12.9 + pulse * 0.2:.1f}',
                     unit='deg',
                 ),
diff --git a/waybionic_rviz_plugins/src/ros_diagnostics_source.cpp b/waybionic_rviz_plugins/src/ros_diagnostics_source.cpp
index 33a3387..199bc0f 100644
--- a/waybionic_rviz_plugins/src/ros_diagnostics_source.cpp
+++ b/waybionic_rviz_plugins/src/ros_diagnostics_source.cpp
@@ -71,7 +71,7 @@ DiagnosticMessage toDiagnosticMessage(
 
   const auto normalized_status = mapLevel(status.level);
   std::optional<std::string> alert_message;
-  if (hasContent(status.message) && normalized_status != DiagnosticStatus::Ok) {
+  if (hasContent(status.message)) {
     alert_message = status.message;
   }