From c30d12e2e382136afd03630378b3d853e3608f98 Mon Sep 17 00:00:00 2001
From: Ryohei Ueda <garaemon@gmail.com>
Date: Mon, 6 Jul 2015 16:25:45 +0900
Subject: [PATCH] [jsk_topic_tools] Add number of subscribers to diagnostic
 information

---
 jsk_topic_tools/src/diagnostic_nodelet.cpp | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/jsk_topic_tools/src/diagnostic_nodelet.cpp b/jsk_topic_tools/src/diagnostic_nodelet.cpp
index e24761a03..fffeef761 100644
--- a/jsk_topic_tools/src/diagnostic_nodelet.cpp
+++ b/jsk_topic_tools/src/diagnostic_nodelet.cpp
@@ -34,7 +34,7 @@
  *********************************************************************/
 
 #include "jsk_topic_tools/diagnostic_nodelet.h"
-
+#include <sstream>
 namespace jsk_topic_tools
 {
   DiagnosticNodelet::DiagnosticNodelet(const std::string& name):
@@ -79,5 +79,20 @@ namespace jsk_topic_tools
       stat.summary(diagnostic_msgs::DiagnosticStatus::OK,
                    getName() + " is not subscribed");
     }
+    std::stringstream topic_names;
+    for (size_t i = 0; i < publishers_.size(); i++) {
+      if (i == publishers_.size() - 1) {
+        topic_names << publishers_[i].getTopic();
+      }
+      else {
+        topic_names << publishers_[i].getTopic() << ", ";
+      }
+    }
+    stat.add("watched topics", topic_names.str());
+    for (size_t i = 0; i < publishers_.size(); i++) {
+      stat.add(publishers_[i].getTopic(),
+               (boost::format("%d subscribers") %
+                publishers_[i].getNumSubscribers()).str());
+    }
   }
 }