2021-12-06-log

$ python diagnos_ether_listener.py 
EtherCAT Master Dropped Packets: 167983
EtherCAT Master RX Late Packet: 4
EtherCAT Device (br_caster_r_wheel_motor)Drops: 0
EtherCAT Device (br_caster_l_wheel_motor)Drops: 0
EtherCAT Device (br_caster_rotation_motor)Drops: 0
EtherCAT Device (fl_caster_r_wheel_motor)Drops: 0
EtherCAT Device (fl_caster_l_wheel_motor)Drops: 0
EtherCAT Device (fl_caster_rotation_motor)Drops: 0
EtherCAT Device (bl_caster_r_wheel_motor)Drops: 0
EtherCAT Device (bl_caster_l_wheel_motor)Drops: 7215
EtherCAT Device (bl_caster_rotation_motor)Drops: 7215
EtherCAT Device (fr_caster_r_wheel_motor)Drops: 0
EtherCAT Device (fr_caster_l_wheel_motor)Drops: 0
EtherCAT Device (fr_caster_rotation_motor)Drops: 0
EtherCAT Device (torso_lift_motor)Drops: 0
EtherCAT Device (l_shoulder_pan_motor)Drops: 0
EtherCAT Device (l_shoulder_lift_motor)Drops: 0
EtherCAT Device (l_upper_arm_roll_motor)Drops: 0
EtherCAT Device (l_elbow_flex_motor)Drops: 0
EtherCAT Device (l_forearm_roll_motor)Drops: 0
EtherCAT Device (l_wrist_l_motor)Drops: 0
EtherCAT Device (l_wrist_r_motor)Drops: 0
EtherCAT Device (l_gripper_motor)Drops: 0
EtherCAT Device (head_pan_motor)Drops: 0
EtherCAT Device (r_shoulder_pan_motor)Drops: 0
EtherCAT Device (r_shoulder_lift_motor)Drops: 0
EtherCAT Device (r_upper_arm_roll_motor)Drops: 0
EtherCAT Device (r_elbow_flex_motor)Drops: 0
EtherCAT Device (r_forearm_roll_motor)Drops: 0
EtherCAT Device (r_wrist_l_motor)Drops: 0
EtherCAT Device (r_wrist_r_motor)Drops: 0
EtherCAT Device (r_gripper_motor)Drops: 0
EtherCAT Device (head_tilt_motor)Drops: 0
EtherCAT Device (laser_tilt_mount_motor)Drops: 0
--------------------------------------------

diagnos_ether_listener.py

#!/usr/bin/env python

import rospy
from diagnostic_msgs.msg import DiagnosticArray

hoge = None

def callback(data):
    global hoge
    flag = False
    for e in data.status:
        #EtherCAT Device
        for v in e.values:
            if v.key =='Drops':
                flag = True
                print(e.name + "Drops: {}".format(v.value))
        #EtherCAT Master
        if e.name == 'EtherCAT Master':
            for v in e.values:
                if v.key =='Dropped Packets':
                    print(e.name + " Dropped Packets: {}".format(v.value))
                if v.key =='RX Late Packet':
                    print(e.name + " RX Late Packet: {}".format(v.value))                    

    if flag:
        print("--------------------------------------------")
        
    
def listener():
    rospy.init_node('diagnostics_listener', anonymous=True)
    rospy.Subscriber('/diagnostics', DiagnosticArray, callback)
    rospy.spin()

if __name__ == '__main__':
    listener()