Hi,
ROS2 diagnostics messages are part of jros2client starting from version 10.0.
We wrote a short article which covers how users can use ROS2 diagnostics, by subscribing to it with jros2client directly from Java. All received ROS diagnostics message are converted to OpenTelemetry metrics and sent to OpenTelemetry for further processing.
In our example, as a source of all diagnostics we use Jetson Orin Nano. All diagnostics from Jetson is gathered and published to ROS by isaac_ros_jetson_stats.
The entire flow looks like this:
