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_node(self, stat, node_name): node_state = checkNodeState(node_name, needed=True) if node_state: stat.summary(DiagnosticStatus.OK, 'Node is alive') else: stat.summary(DiagnosticStatus.ERROR, 'Node is dead') 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], ])
def main(): # check node is exists nodes = [ '/left_hand_camera/left/left_nodelet_manager', '/left_hand_camera/right/right_nodelet_manager', '/left_hand_camera/stereo/stereo_image_proc', '/right_hand_camera/left/left_nodelet_manager', '/right_hand_camera/right/right_nodelet_manager', '/right_hand_camera/stereo/stereo_image_proc', ] for node in nodes: checkNodeState(node, needed=True) topic_checkers = [] # common for left/right hand camera topics = [ '/robot/joint_states', '/transformable_bin_markers/output/boxes', '/gripper_front/limb/left/dxl/motor_states/port', '/gripper_front/limb/left/dxl/finger_tendon_controller/state', '/gripper_front/limb/left/dxl/finger_yaw_joint_controller/state', '/gripper_front/limb/left/dxl/prismatic_joint_controller/state', '/gripper_front/limb/left/dxl/vacuum_pad_tendon_controller/state', '/gripper_front/limb/right/dxl/motor_states/port', '/gripper_front/limb/right/dxl/finger_tendon_controller/state', '/gripper_front/limb/right/dxl/finger_yaw_joint_controller/state', '/gripper_front/limb/right/dxl/prismatic_joint_controller/state', '/gripper_front/limb/right/dxl/vacuum_pad_tendon_controller/state', '/vacuum_gripper/limb/left/state', '/vacuum_gripper/limb/right/state', '/lgripper_sensors', '/rgripper_sensors', '/scale0/output', '/scale1/output', '/scale2/output', '/scale3/output', ] for topic in topics: topic_checkers.append(TopicPublishedChecker(topic, timeout=5)) # for left/right hand camera topics = [ # setup_for_pick.launch 'left/rgb/camera_info', 'left/rgb/image_rect_color', 'left/depth_registered/camera_info', 'left/depth_registered/sw_registered/image_rect', 'left/depth_registered/points', 'right/rgb/camera_info', 'right/rgb/image_rect_color', 'stereo/depth_registered/image_rect', 'fused/rgb/camera_info', 'fused/rgb/image_rect_color', 'fused/depth_registered/image_rect', 'fused/depth_registered/points', 'fcn_object_segmentation/output/proba_image', 'apply_context_to_label_proba/output/label', 'attention_clipper_target_bin/output/point_indices', 'extract_indices_target_bin/output', 'label_to_cluster_indices/output', 'cluster_indices_decomposer_label/boxes', 'cluster_indices_decomposer_label/centroid_pose_array', 'label_to_mask/output', 'mask_to_point_indices/output', 'extract_indices_target_label/output', 'cluster_indices_decomposer_target/boxes', 'cluster_indices_decomposer_target/centroid_pose_array', 'bbox_array_to_bbox/output', ] for side in ['left', 'right']: for topic in topics: topic = '/%s_hand_camera/%s' % (side, topic) topic_checkers.append(TopicPublishedChecker(topic, timeout=5)) for checker in topic_checkers: checker.check()
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) 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")
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) 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"