discard_stale_not_published_pub.py
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1 #!/usr/bin/env python
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34 
35 # \author Guglielmo Gemignani
36 
37 # \brief Publishes messages for aggregator testing of discard stale flag
38 
39 from time import sleep
40 
41 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
42 import rospy
43 
44 
45 if __name__ == '__main__':
46  rospy.init_node('diag_pub')
47  pub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=10)
48 
49  start_time = rospy.get_time()
50 
51  while not rospy.is_shutdown():
52  array = DiagnosticArray()
53  array.header.stamp = rospy.get_rostime()
54 
55  # after 2 seconds we will publish only an empty diagnostics
56  if rospy.get_time() - start_time < 3:
57  array.status = [DiagnosticStatus(1, 'nonexistent2', 'WARN', '', [])]
58 
59  pub.publish(array)
60  sleep(1.0)


diagnostic_aggregator
Author(s): Kevin Watts, Brice Rebsamen
autogenerated on Tue Nov 15 2022 03:17:12