Connect up to ros.

src/conversions.cpp

@@ -1,3 +1,13 @@
+//
+// Copyright 2026 James Pace
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at https://mozilla.org/MPL/2.0/.
+//
+// This Source Code Form is "Incompatible With Secondary Licenses", as
+// defined by the Mozilla Public License, v. 2.0.
+//
 #include <j7s_diagnostics_ros/conversions.hpp>
 
 std::string convertString(const rust::String & rust)
@@ -100,6 +110,19 @@ rust::Vec<j7s_diagnostics_cxx::DiagnosticStatus> fromMsg(
     return toReturn;
 }
 
+rust::Vec<j7s_diagnostics_cxx::DiagnosticStatus> fromMsg(
+    const std::vector<diagnostic_msgs::msg::DiagnosticStatus> & msgs)
+{
+    rust::Vec<j7s_diagnostics_cxx::DiagnosticStatus> toReturn;
+    toReturn.reserve(msgs.size());
+
+    for (const auto & rosMsg : msgs)
+    {
+        toReturn.emplace_back(fromMsg(rosMsg));
+    }
+    return toReturn;
+}
+
 diagnostic_msgs::msg::DiagnosticStatus toMsg(const j7s_diagnostics_cxx::DiagnosticStatus & status)
 {
     diagnostic_msgs::msg::DiagnosticStatus toReturn;

src/j7s_diagnostic_node.cpp

@@ -0,0 +1,60 @@
+//
+// Copyright 2026 James Pace
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at https://mozilla.org/MPL/2.0/.
+//
+// This Source Code Form is "Incompatible With Secondary Licenses", as
+// defined by the Mozilla Public License, v. 2.0.
+//
+#include <chrono>
+#include <j7s_diagnostics_ros/conversions.hpp>
+#include <j7s_diagnostics_ros/j7s_diagnostic_node.hpp>
+
+using namespace std::chrono_literals;
+
+namespace j7s
+{
+DiagnosticAggregator::DiagnosticAggregator(const rclcpp::NodeOptions & options) :
+    Node("j7s_diagnostic_agg", options)
+{
+    m_publisher =
+        this->create_publisher<diagnostic_msgs::msg::DiagnosticArray>("/diagnostics_agg", 1);
+    m_subscriber = this->create_subscription<diagnostic_msgs::msg::DiagnosticArray>(
+        "/diagnostics", 1,
+        [this](const diagnostic_msgs::msg::DiagnosticArray & msg)
+        {
+            for (const auto status : msg.status)
+            {
+                m_queue.emplace_back(status);
+            }
+        });
+    m_timer = this->create_timer(
+        1s,
+        [this]()
+        {
+            const auto queueCopy = m_queue;
+            m_queue.clear();
+
+            auto tree = j7s_diagnostics_cxx::DiagnosticTree::build();
+            tree->add_statuses(fromMsg(queueCopy));
+            tree->reconcile();
+            const auto aggregate = toMsg(tree->aggregate());
+            m_publisher->publish(aggregate);
+        });
+}
+};  // namespace j7s
+
+int main(int argc, char * argv[])
+{
+    rclcpp::init(argc, argv);
+
+    auto node = std::make_shared<j7s::DiagnosticAggregator>(rclcpp::NodeOptions());
+
+    rclcpp::spin(node);
+
+    rclcpp::shutdown();
+
+    return 0;
+}

src/test.cpp

@@ -1,3 +1,13 @@
+//
+// Copyright 2026 James Pace
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at https://mozilla.org/MPL/2.0/.
+//
+// This Source Code Form is "Incompatible With Secondary Licenses", as
+// defined by the Mozilla Public License, v. 2.0.
+//
 #include <fmt/core.h>
 
 #include <iostream>