def message_callback(self, message):
ROSTopicHz.callback_hz(self, message)
with self.lock:
self.timestamps.append(rospy.get_time())
# FIXME: this only works for message of class AnyMsg
#self.sizes.append(len(message._buff))
# time consuming workaround...
buff = StringIO()
message.serialize(buff)
self.sizes.append(len(buff.getvalue()))
if len(self.timestamps) > self.window_size - 1:
self.timestamps.pop(0)
self.sizes.pop(0)
assert(len(self.timestamps) == len(self.sizes))
self.last_message = message
def message_callback(self, message):
ROSTopicHz.callback_hz(self, message)
with self.lock:
self.timestamps.append(rospy.get_time())
# FIXME: this only works for message of class AnyMsg
#self.sizes.append(len(message._buff))
# time consuming workaround...
buff = StringIO()
message.serialize(buff)
self.sizes.append(buff.len)
if len(self.timestamps) > self.window_size - 1:
self.timestamps.pop(0)
self.sizes.pop(0)
assert(len(self.timestamps) == len(self.sizes))
self.last_message = message
def get_hz(topic, window_size=-1, filter_expr=None):
rates = []
rt = ROSTopicHz(window_size, filter_expr=filter_expr)
sub = rospy.Subscriber(topic, Image, rt.callback_hz)
while not rospy.is_shutdown():
if len(rt.times) > 0:
n = len(rt.times)
mean = sum(rt.times) / n
rate = 1. / mean if mean > 0. else 0
rates.append(rate)
if len(rates) >= 3:
sub.unregister()
return np.average(rates)
rospy.sleep(1)
def message_callback(self, message):
ROSTopicHz.callback_hz(self, message)
with self.lock:
self.timestamps.append(rospy.get_time())
# FIXME: this only works for message of class AnyMsg
#self.sizes.append(len(message._buff))
# time consuming workaround...
buff = StringIO()
message.serialize(buff)
# patch begin
pos = buff.tell()
buff.seek(0, os.SEEK_END)
self.sizes.append(buff.tell())
buff.seek(pos)
# patch end
if len(self.timestamps) > self.window_size - 1:
self.timestamps.pop(0)
self.sizes.pop(0)
assert (len(self.timestamps) == len(self.sizes))
self.last_message = message
def __init__(self, topic, metrics, window_size=1000, filter_expr=None, timer_freq=0.5, filename="freqfile"):
""" A topic logger class, which will initiate ROS BW and HZ loggers for the specified topic
"""
self.topic = topic.replace('/','')
self.Metrics = metrics
self.rthz = ROSTopicHz(window_size, filter_expr=filter_expr)
rospy.Subscriber(topic, rospy.AnyMsg, self.rthz.callback_hz)
# Access the variables through "rt.times", see https://github.com/strawlab/ros_comm/blob/6f7ea2feeb3c890699518cb6eb3d33faa15c5306/tools/rostopic/src/rostopic.py#L136
self.rtbw = ROSTopicBw() # Default window_size is 100
rospy.Subscriber(topic, rospy.AnyMsg, self.rtbw.callback)
# Timer to repeatedly log the values. Documentation here: http://docs.ros.org/melodic/api/rospy/html/rospy.timer.Timer-class.html
self.timer = rospy.Timer(rospy.Duration(timer_freq), self.timer_callback)
self.logging_df = pd.DataFrame(columns=self.Metrics).set_index("Time")
#!/usr/bin/env python
# -*- coding:utf-8 -*-
# 注意：这是自动生成的程序，请不要做任何修改！
import rospy
import time
from std_msgs.msg import Header
from rostopic import ROSTopicHz
from rospy_test.msg import node_state
from rospy_test.msg import all_state
from rospy_test.msg import Num
from rospy_test.msg import info
hz_checker = ROSTopicHz(10, use_wtime=True)
msg_dict = {}
msg_keys = ['msg', 'hz', 'hz_state', 'param', 'param_value', 'param_state']
pub = rospy.Publisher('node_states', all_state, queue_size=10)
def func_checking_value(param, min, max):
return param <= max and param >= min
def timer_callback(event):
global hz_checker
global pub
node_msg = []
import curses
import rospy
from rostopic import ROSTopicHz
from rti_dvl.msg import DVL
from sensor_msgs.msg import Imu
from bar30_depth.msg import Depth
from sonar_oculus.msg import OculusPing
from bluerov_bridge import Bridge
OCULUS_PARTNUMBER = {0: 'NAN', 1032: 'M750d', 1042: 'M1200d'}
dvl, depth, imu, ping = DVL(), Depth(), Imu(), OculusPing()
hz = ROSTopicHz(-1)
dvl_hz, depth_hz, imu_hz, sonar_hz = 0, 0, 0, 0
def dvl_callback(msg):
global dvl
dvl = msg
hz.callback_hz(msg, 'dvl')
def depth_callback(msg):
global depth
depth = msg
hz.callback_hz(msg, 'depth')
def goas(self):
time = ROSTopicHz(-1)
time.print_hz()
print(time.rate)