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"
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()
