feat(hesai): add node name to diag name of hesai hw_monitor

[kotaro-hihara]

PR Type

• Improvement

Related Links

https://tier4.atlassian.net/browse/RT0-34026

Description

Added namespace so that hessai_hw_monitor can diag each LiDAR
You can verify with a bench test that a diag is published containing the namespace of each LiDAR

Review Procedure

Remarks

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[mojomex]

Thank you! I was very confused why ROS2 includes the node name and provides no option to make it fully qualified (include the namespace like you did). Digging into the source code, there it was:

https://github.com/ros/diagnostics/blob/bb392ee850b7d549e621c265b214c47ad9f2dd8f/diagnostic_updater/src/diagnostic_updater.cpp#L72-L81

The parameter diagnostic_updater.use_fqn makes the node name fully qualified without any effort on our side!

Before	After

[mojomex]

Tested and working, see comment above.

[mojomex]

@kotaro-hihara Since this is a super useful feature, I've changed the PR to be merged into main and will cherry-pick the commit to also apply to develop-eval. Thanks again for contributing!

[mojomex]

Cherry-picked into develop-eval: d04eac5