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)