00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2009, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 00035 ##\author Kevin Watts 00036 00037 ##\brief Publishes messages for aggregator testing of expected items. 00038 00039 PKG = 'diagnostic_aggregator' 00040 00041 import roslib; roslib.load_manifest(PKG) 00042 00043 00044 import rospy 00045 from time import sleep 00046 00047 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus 00048 00049 if __name__ == '__main__': 00050 rospy.init_node('diag_pub') 00051 pub = rospy.Publisher('/diagnostics', DiagnosticArray) 00052 00053 start_time = rospy.get_time() 00054 00055 while not rospy.is_shutdown(): 00056 array = DiagnosticArray() 00057 array.status = [ 00058 # GenericAnalyzer my_path 00059 DiagnosticStatus(0, 'expected1', 'OK', '', []), 00060 DiagnosticStatus(1, 'expected2', 'OK', '', []), 00061 DiagnosticStatus(2, 'expected3', 'OK', '', []), 00062 00063 DiagnosticStatus(0, 'startswith1', 'OK', '', []), 00064 DiagnosticStatus(0, 'startswith2', 'OK', '', []), 00065 DiagnosticStatus(1, 'startswith3', 'OK', '', []), 00066 00067 # OtherAnalyzer for Other 00068 DiagnosticStatus(2, 'other2', 'OK', '', []), 00069 DiagnosticStatus(0, 'other3', 'OK', '', [])] 00070 00071 array.header.stamp = rospy.get_rostime() 00072 00073 if rospy.get_time() - start_time < 5: 00074 # Shouldn't disappear 00075 array.status.append(DiagnosticStatus(0, 'expected4', 'I will be stale', '', [])) 00076 array.status.append(DiagnosticStatus(0, 'expected5', 'I will be stale', '', [])) 00077 00078 # Should disappear 00079 array.status.append(DiagnosticStatus(2, 'other1', 'Error', '', [])) 00080 00081 pub.publish(array) 00082 sleep(1)