def main():
sys.stdout = sys.__stderr__
# check node is exists
nodes = [
]
for node in nodes:
checkNodeState(node, needed=True)
# common for left/right hand camera
topics = [
'/json_saver/output/bin_contents',
'/json_saver/output/json_dir',
]
for topic in topics:
if not checkTopicIsPublished(topic, timeout=5):
return
# for left/right hand camera
topics = [
# pick.launch
'candidates_publisher/output/candidates',
'weight_candidates_refiner/output/candidates/picked',
'weight_candidates_refiner/output/candidates/placed',
]
for side in ['left', 'right']:
for topic in topics:
topic = '/%s_hand_camera/%s' % (side, topic)
if not checkTopicIsPublished(topic, timeout=30):
return
sys.stdout = sys.__stdout__
def main():
sys.stdout = sys.__stderr__
# check node is exists
nodes = []
for node in nodes:
checkNodeState(node, needed=True)
# common for left/right hand camera
topics = [
'/json_saver/output/bin_contents',
'/json_saver/output/json_dir',
]
for topic in topics:
if not checkTopicIsPublished(topic, timeout=5):
return
# for left/right hand camera
topics = [
# pick.launch
'candidates_publisher/output/candidates',
'weight_candidates_refiner/output/candidates/picked',
'weight_candidates_refiner/output/candidates/placed',
]
for side in ['left', 'right']:
for topic in topics:
topic = '/%s_hand_camera/%s' % (side, topic)
if not checkTopicIsPublished(topic, timeout=30):
return
sys.stdout = sys.__stdout__
def main():
host = re.match("http://([0-9a-zA-Z]*):.*", os.environ["ROS_MASTER_URI"]).groups(0)[0]
indexMessage("Check Git Repos in FC")
checkGitRepoWithRosPack("drc_task_common")
checkGitRepoWithRosPack("jsk_tools")
indexMessage("Check BlacklistDaemons in OCS")
checkBlackListDaemon(["chrome", "dropbox", "skype"], kill=True)
indexMessage("Check Master in OCS Network")
checkROSCoreROSMaster()
checkROSMasterCLOSE_WAIT(host)
rospy.init_node("check_sanity_ocs")
indexMessage("Check Nodes in OCS")
# check Node State
for node in check_ocs_nodes:
checkNodeState(node, needed=True)
indexMessage("Check Input Device")
# check Input Device
checkNodeState('/midi_config_player', needed=True, sub_fail="Is MIDI connected ? or Is that powered on?")
checkTopicIsPublished("/ocs/joy", None,
"XBox Controller seems to work",
"XBox Controller doesn't publish. Did you connect?")
checkTopicIsPublished(
"/ocs_dynamic_reconfigure/parameter_descriptions",
Time,
"[ocs] Silverhammer lowspeed protocol is working",
"[ocs] Silverhammer lowspeed protocol is not working",
5,
[
["/ocs_from_fc_basic_low_speed/last_received_time", Time],
["/ocs_from_fc_eus/last_received_time", Time],
["/ocs_from_fc_low_speed/last_received_time", Time],
["/ocs_from_fc_vehicle/last_received_time", Time],
["/ocs_to_fc_eus/last_send_time", Time],
["/ocs_to_fc_low_speed/last_send_time", Time],
["/ocs_to_fc_reconfigure/last_send_time", Time],
["/ocs_to_fc_vehicle/last_send_time", Time],
])
indexMessage("Check SilverHammer Subscribe Hz in OCS")
checkSilverHammerSubscribe("/ocs_to_fc_eus/last_send_time", 1.0, 0.4, timeout=7)
checkSilverHammerSubscribe("/ocs_to_fc_low_speed/last_send_time", 1.0, 0.4, timeout=7)
checkSilverHammerSubscribe("/ocs_to_fc_vehicle/last_send_time", 1.0, 0.4, timeout=7)
checkSilverHammerSubscribe("/ocs_to_fc_reconfigure/last_send_time", 1.0, 0.4, timeout=7)
checkSilverHammerSubscribe("/ocs_from_fc_basic_low_speed/last_received_time", 10.0, 8.0, timeout=7)
checkSilverHammerSubscribe("/ocs_from_fc_eus/last_received_time", 10.0, 8.0, timeout=7)
checkSilverHammerSubscribe("/ocs_from_fc_low_speed/last_received_time", 10.0, 8.0, timeout=7)
checkSilverHammerSubscribe("/ocs_from_fc_vehicle/last_received_time", 10.0, 8.0, timeout=7)
def main():
host = re.match("http://([0-9a-zA-Z]*):.*", os.environ["ROS_MASTER_URI"]).groups(0)[0]
indexMessage("Check Git Repos in FC")
checkGitRepoWithRosPack("drc_task_common")
checkGitRepoWithRosPack("jsk_tools")
indexMessage("Check BlacklistDaemons in OCS")
checkBlackListDaemon(["chrome", "dropbox", "skype"], kill=True)
indexMessage("Check Master in OCS Network")
# checkROSCoreROSMaster()
checkROSMasterCLOSE_WAIT(host)
rospy.init_node("check_sanity_ocs")
indexMessage("Check Nodes in OCS")
# check Node State
for node in check_ocs_nodes:
checkNodeState(node, needed=True)
indexMessage("Check Input Device")
# check Input Device
checkNodeState('/midi_config_player', needed=True, sub_fail="Is MIDI connected ? or Is that powered on?")
checkTopicIsPublished("/ocs/joy", None,
"XBox Controller seems to work",
"XBox Controller doesn't publish. Did you connect?")
checkTopicIsPublished(
"/ocs_dynamic_reconfigure/parameter_descriptions",
Time,
"[ocs] Silverhammer lowspeed protocol is working",
"[ocs] Silverhammer lowspeed protocol is not working",
5,
[
["/ocs_from_fc_basic_low_speed/last_received_time", Time],
["/ocs_from_fc_eus/last_received_time", Time],
["/ocs_from_fc_low_speed/last_received_time", Time],
["/ocs_from_fc_vehicle/last_received_time", Time],
["/ocs_to_fc_eus/last_send_time", Time],
["/ocs_to_fc_low_speed/last_send_time", Time],
["/ocs_to_fc_reconfigure/last_send_time", Time],
["/ocs_to_fc_vehicle/last_send_time", Time],
])
indexMessage("Check SilverHammer Subscribe Hz in OCS")
checkSilverHammerSubscribe("/ocs_to_fc_eus/last_send_time", 1.0, 0.4, timeout=7)
checkSilverHammerSubscribe("/ocs_to_fc_low_speed/last_send_time", 1.0, 0.4, timeout=7)
checkSilverHammerSubscribe("/ocs_to_fc_vehicle/last_send_time", 1.0, 0.4, timeout=7)
checkSilverHammerSubscribe("/ocs_to_fc_reconfigure/last_send_time", 1.0, 0.4, timeout=7)
checkSilverHammerSubscribe("/ocs_from_fc_basic_low_speed/last_received_time", 10.0, 8.0, timeout=7)
checkSilverHammerSubscribe("/ocs_from_fc_eus/last_received_time", 10.0, 8.0, timeout=7)
checkSilverHammerSubscribe("/ocs_from_fc_low_speed/last_received_time", 10.0, 8.0, timeout=7)
checkSilverHammerSubscribe("/ocs_from_fc_vehicle/last_received_time", 10.0, 8.0, timeout=7)
def check_topic(self, stat, topic_name):
# Assume that topic is published at more than (1.0 / timeout) Hz
topic_state = checkTopicIsPublished(topic_name, timeout=10)
if topic_state:
stat.summary(DiagnosticStatus.OK, 'Topic is published')
else:
stat.summary(DiagnosticStatus.ERROR, 'Topic is not published')
return stat
def main():
rospy.init_node("check_sanity_ocs")
host = re.match("http://([0-9a-zA-Z]*):.*", os.environ["ROS_MASTER_URI"]).groups(0)[0]
checkROSMasterCLOSE_WAIT(host)
indexMessage("Check Nodes in OCS")
# check Node State
for node in check_ocs_nodes:
checkNodeState(node, needed=True)
indexMessage("Check Input Device")
# check Input Device
checkNodeState('/midi_config_player', needed=True)
checkTopicIsPublished("/ocs/joy", None,
"XBox Controller seems to work",
"XBox Controller doesn't publish. Did you connect?")
checkTopicIsPublished(
"/ocs_dynamic_reconfigure/parameter_descriptions",
Time,
"[ocs] Silverhammer lowspeed protocol is working",
"[ocs] Silverhammer lowspeed protocol is not working",
5,
[
["/ocs_from_fc_basic_low_speed/last_publish_output_time", Time],
["/ocs_from_fc_basic_low_speed/last_received_time", Time],
["/ocs_from_fc_eus/last_publish_output_time", Time],
["/ocs_from_fc_eus/last_received_time", Time],
["/ocs_from_fc_low_speed/last_publish_output_time", Time],
["/ocs_from_fc_low_speed/last_received_time", Time],
["/ocs_from_fc_vehicle/last_publish_output_time", Time],
["/ocs_from_fc_vehicle/last_received_time", Time],
["/ocs_to_fc_eus/last_input_received_time", Time],
["/ocs_to_fc_eus/last_send_time", Time],
["/ocs_to_fc_low_speed/last_input_received_time", Time],
["/ocs_to_fc_low_speed/last_send_time", Time],
["/ocs_to_fc_reconfigure/last_input_received_time", Time],
["/ocs_to_fc_reconfigure/last_send_time", Time],
["/ocs_to_fc_vehicle/last_input_received_time", Time],
["/ocs_to_fc_vehicle/last_send_time", Time],
])
checkNodeState("/fc_to_ocs_vehicle", True)
checkNodeState("/fc_from_ocs_eus", True)
checkNodeState("/fc_from_ocs_low_speed", True)
checkNodeState("/fc_from_ocs_vehicle", True)
checkNodeState("/fc_from_ocs_reconfigure", True)
checkNodeState("/highspeed_streamer", True)
indexMessage("Check Topics in FC")
checkMultisenseRemote(
"multisense remote is not working."
"Run following command:\n"
"roslaunch jaxon_ros_bridge jaxon_multisense_remote.launch\n"
"on your machine")
checkTopicIsPublished(
"/highspeed_streamer/last_send_time",
Time,
"Silverhammer highspeed protocol is working",
"Silverhammer highspeed protocol is not working")
checkTopicIsPublished(
"/fc_from_ocs_low_speed/last_received_time",
Time,
"Silverhammer lowspeed protocol is working",
"Silverhammer lowspeed protocol is not working",
5,
[["/fc_from_ocs_reconfigure/last_received_time", Time],
["/fc_from_ocs_vehicle/last_received_time", Time],
["/fc_from_ocs_eus/last_received_time", Time],
["/fc_to_ocs_eus/last_send_time", Time],
["/fc_to_ocs_low_speed/last_send_time", Time],
["/fc_to_ocs_basic_low_speed/last_send_time", Time]])
checkTopicIsPublished(
