Hi @bponsler, We would like to contribute on dignostic_updater. We have tried build the diagnostic_updater exist code functionality and executed gtest (with some modification code for the same) for using colcon build tool for ROS2.
Here we have observed that code is depend on ros2_time pkg, so should we use ros2_time pkg and proceed or should we modified time/duration stuff based on master ros2 rclcpp time?