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(