Example #1
0
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)
Example #2
0
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],
        ])
Example #3
0
from sensor_msgs.msg import PointCloud2, Image
from jsk_recognition_msgs.msg import (ModelCoefficientsArray,
                                      PolygonArray,
                                      ClusterPointIndices,
                                      BoundingBoxArray,
                                      Torus)
from pcl_msgs.msg import PointIndices
from geometry_msgs.msg import PolygonStamped, Point32
from jsk_hrp2_ros_bridge.sanity_util import checkMultisenseRemote

if __name__ == "__main__":
    indexMessage("Check Daemons in FC")
    checkBlackListDaemon(["chrome", "dropbox", "skype"], kill=False)
    
    host = re.match("http://([0-9a-zA-Z]*):.*", os.environ["ROS_MASTER_URI"]).groups(0)[0]
    checkROSMasterCLOSE_WAIT(host)

    indexMessage("Check Git Repos in FC")
    checkGitRepoWithRosPack("drc_task_common")
    rospy.init_node("chesk_sanity_fc")

    indexMessage("Check Nodes in FC")
    checkNodeState("/fc_to_ocs_basic_low_speed", True)
    checkNodeState("/fc_to_ocs_eus", True)
    checkNodeState("/fc_to_ocs_low_speed", True)
    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)