diff --git a/repositories/diagnostics.BUILD.bazel b/repositories/diagnostics.BUILD.bazel
index 251e0c5c..075928b2 100644
--- a/repositories/diagnostics.BUILD.bazel
+++ b/repositories/diagnostics.BUILD.bazel
@@ -4,10 +4,13 @@ load(
     "ros2_cpp_library",
 )
 load("@com_github_mvukov_rules_ros2//ros2:plugin.bzl", "ros2_plugin")
+load("@com_github_mvukov_rules_ros2//ros2:py_defs.bzl", "ros2_py_binary")
 load("@rules_python//python:defs.bzl", "py_library")
+load("@rules_ros2_pip_deps//:requirements.bzl", "requirement")
 
 ros2_cpp_library(
     name = "cpp_diagnostic_updater",
+    srcs = ["diagnostic_updater/src/diagnostic_updater.cpp"],
     hdrs = glob(["diagnostic_updater/include/**/*.hpp"]),
     includes = ["diagnostic_updater/include"],
     visibility = ["//visibility:public"],
@@ -93,3 +96,73 @@ ros2_cpp_binary(
         "@ros2_rclcpp//:rclcpp",
     ],
 )
+
+ros2_py_binary(
+    name = "cpu_monitor_node",
+    srcs = ["diagnostic_common_diagnostics/diagnostic_common_diagnostics/cpu_monitor.py"],
+    main = "diagnostic_common_diagnostics/diagnostic_common_diagnostics/cpu_monitor.py",
+    set_up_ament = False,
+    visibility = ["//visibility:public"],
+    deps = [
+        ":py_diagnostic_updater",
+        "@ros2_common_interfaces//:py_diagnostic_msgs",
+        "@ros2_rclpy//:rclpy",
+        requirement("psutil"),
+    ],
+)
+
+# The "hd" in "hd_monitor_node" means "hard drive".  We name it "hd_monitor_node" to stay
+# consistent with the upstream name.
+ros2_py_binary(
+    name = "hd_monitor_node",
+    srcs = ["diagnostic_common_diagnostics/diagnostic_common_diagnostics/hd_monitor.py"],
+    main = "diagnostic_common_diagnostics/diagnostic_common_diagnostics/hd_monitor.py",
+    set_up_ament = False,
+    visibility = ["//visibility:public"],
+    deps = [
+        ":py_diagnostic_updater",
+        "@ros2_common_interfaces//:py_diagnostic_msgs",
+        "@ros2_rclpy//:rclpy",
+    ],
+)
+
+ros2_py_binary(
+    name = "ntp_monitor_node",
+    srcs = ["diagnostic_common_diagnostics/diagnostic_common_diagnostics/ntp_monitor.py"],
+    main = "diagnostic_common_diagnostics/diagnostic_common_diagnostics/ntp_monitor.py",
+    set_up_ament = False,
+    visibility = ["//visibility:public"],
+    deps = [
+        ":py_diagnostic_updater",
+        "@ros2_common_interfaces//:py_diagnostic_msgs",
+        "@ros2_rclpy//:rclpy",
+        requirement("ntplib"),
+    ],
+)
+
+ros2_py_binary(
+    name = "ram_monitor_node",
+    srcs = ["diagnostic_common_diagnostics/diagnostic_common_diagnostics/ram_monitor.py"],
+    main = "diagnostic_common_diagnostics/diagnostic_common_diagnostics/ram_monitor.py",
+    set_up_ament = False,
+    visibility = ["//visibility:public"],
+    deps = [
+        ":py_diagnostic_updater",
+        "@ros2_common_interfaces//:py_diagnostic_msgs",
+        "@ros2_rclpy//:rclpy",
+        requirement("psutil"),
+    ],
+)
+
+ros2_py_binary(
+    name = "sensors_monitor_node",
+    srcs = ["diagnostic_common_diagnostics/diagnostic_common_diagnostics/sensors_monitor.py"],
+    main = "diagnostic_common_diagnostics/diagnostic_common_diagnostics/sensors_monitor.py",
+    set_up_ament = False,
+    visibility = ["//visibility:public"],
+    deps = [
+        ":py_diagnostic_updater",
+        "@ros2_common_interfaces//:py_diagnostic_msgs",
+        "@ros2_rclpy//:rclpy",
+    ],
+)
diff --git a/repositories/repositories.bzl b/repositories/repositories.bzl
index b389dfa6..5856c8e7 100644
--- a/repositories/repositories.bzl
+++ b/repositories/repositories.bzl
@@ -301,9 +301,9 @@ def ros2_repositories():
         http_archive,
         name = "ros2_diagnostics",
         build_file = "@com_github_mvukov_rules_ros2//repositories:diagnostics.BUILD.bazel",
-        sha256 = "a723dae7acf0f00ee643c076c7c81299be0254919f29225ec7a89dc14cb8ea6f",
-        strip_prefix = "diagnostics-9f402787ea2c9b3dd4d7e51a9986810e8a3400ba",
-        urls = ["https://github.com/ros/diagnostics/archive/9f402787ea2c9b3dd4d7e51a9986810e8a3400ba.zip"],
+        sha256 = "22f3e6cf118bc76bdbd466106f4f0dd94382277d3fc7eb5248d2fcf26be8d411",
+        strip_prefix = "diagnostics-4.4.6",
+        urls = ["https://github.com/ros/diagnostics/archive/refs/tags/4.4.6.zip"],
     )
 
     maybe(
diff --git a/requirements.txt b/requirements.txt
index fad99e39..301f2a95 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -2,6 +2,7 @@ catkin_pkg
 coverage
 empy==3.3.*
 lark-parser
+ntplib
 numpy~=1.23
 packaging
 psutil
diff --git a/requirements_lock.txt b/requirements_lock.txt
index 84095de9..55916ae9 100644
--- a/requirements_lock.txt
+++ b/requirements_lock.txt
@@ -86,6 +86,10 @@ lark-parser==0.12.0 \
     --hash=sha256:0eaf30cb5ba787fe404d73a7d6e61df97b21d5a63ac26c5008c78a494373c675 \
     --hash=sha256:15967db1f1214013dca65b1180745047b9be457d73da224fcda3d9dd4e96a138
     # via -r requirements.txt
+ntplib==0.4.0 \
+    --hash=sha256:899d8fb5f8c2555213aea95efca02934c7343df6ace9d7628a5176b176906267 \
+    --hash=sha256:8d27375329ed7ff38755f7b6d4658b28edc147cadf40338a63a0da8133469d60
+    # via -r requirements.txt
 numpy==1.26.4 \
     --hash=sha256:03a8c78d01d9781b28a6989f6fa1bb2c4f2d51201cf99d3dd875df6fbd96b23b \
     --hash=sha256:08beddf13648eb95f8d867350f6a018a4be2e5ad54c8d8caed89ebca558b2818 \
diff --git a/ros2/test/diagnostics/diagnostic_publisher.cc b/ros2/test/diagnostics/diagnostic_publisher.cc
index 4ca6a8e1..c0842560 100644
--- a/ros2/test/diagnostics/diagnostic_publisher.cc
+++ b/ros2/test/diagnostics/diagnostic_publisher.cc
@@ -20,7 +20,7 @@
 
 class Publisher : public rclcpp::Node {
  public:
-  Publisher() : Node("heartbeat_publisher"), diagnostic_updater_{this} {
+  Publisher() : Node("heartbeat_publisher"), diagnostic_updater_(this) {
     diagnostic_updater_.setHardwareID("none");
     diagnostic_updater_.add("", &diagnostic_heartbeat_,
                             &diagnostic_updater::Heartbeat::run);