PointIndices],
["/drill_recognition_for_wall/organized_points_converter/output_cloud",
PointCloud2],
["/drill_recognition_for_wall/normal_estimation/output",
PointCloud2],
["/drill_recognition_for_wall/normal_estimation/output_with_xyz",
PointCloud2],
["/drill_recognition_for_wall/plane_segmentation/output/coefficients",
ModelCoefficientsArray],
["/drill_recognition_for_wall/plane_segmentation/output/polygons",
PolygonArray]
])
checkTopicIsPublished("/footcoords/state", None, echo=True)
indexMessage("Check SilverHammer Subscribe Hz in FC")
checkSilverHammerSubscribe("/fc_to_ocs_basic_low_speed/last_send_time", 1.0, 0.4, timeout=7)
checkSilverHammerSubscribe("/fc_to_ocs_eus/last_send_time", 1.0, 0.4, timeout=7)
checkSilverHammerSubscribe("/fc_to_ocs_low_speed/last_send_time", 1.0, 0.4, timeout=7)
checkSilverHammerSubscribe("/fc_to_ocs_vehicle/last_send_time", 1.0, 0.4, timeout=7)
checkSilverHammerSubscribe("/highspeed_streamer/last_send_time", 1.0, 0.4, timeout=7)
checkSilverHammerSubscribe("/fc_from_ocs_eus/last_received_time", 10.0, 8.0, timeout=7)
checkSilverHammerSubscribe("/fc_from_ocs_low_speed/last_received_time", 10.0, 8.0, timeout=7)
checkSilverHammerSubscribe("/fc_from_ocs_reconfigure/last_received_time", 10.0, 8.0, timeout=7)
checkSilverHammerSubscribe("/fc_from_ocs_vehicle/last_received_time", 10.0, 8.0, timeout=7)
indexMessage("Check Valve Recognition in FC")
# Publish dummy input for valve recognition
pub = rospy.Publisher("/valve_recognition/input_rect", PolygonStamped, latch = True)
dummy_polygon = PolygonStamped()
dummy_polygon.header.frame_id = "left_camera_optical_frame"
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)