void freqStatus(diagnostic_updater::DiagnosticStatusWrapper& status) { double freq = (double)(count_)/diagnostic_.getPeriod(); if (freq < (.9*desired_freq_)) { status.summary(2, "Desired frequency not met"); } else { status.summary(0, "Desired frequency met"); } status.add("Images in interval", count_); status.add("Desired frequency", desired_freq_); status.add("Actual frequency", freq); count_ = 0; }