diagnostic_aggregator: diag_pub.py Source File

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00001 #!/usr/bin/env python
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00034 
00035 ##\author Kevin Watts
00036 
00037 ##\brief Publishes diagnostic messages for diagnostic aggregator unit test
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, queue_size=10)
00052     
00053     array = DiagnosticArray()
00054     array.status = [
00055         # GenericAnalyzer prefix1
00056         DiagnosticStatus(0, 'pref1a', 'OK', '', []),
00057         DiagnosticStatus(1, 'pref1b', 'Warning', '', []),
00058         DiagnosticStatus(0, 'contains1a', 'OK', '', []),
00059         DiagnosticStatus(0, 'prefix1: contains1b', 'OK', '', []),
00060         DiagnosticStatus(0, 'name1', 'OK', '', []),
00061         DiagnosticStatus(0, 'prefix1: expected1a', 'OK', '', []),
00062         DiagnosticStatus(0, 'prefix1: expected1b', 'OK', '', []),
00063         DiagnosticStatus(0, 'prefix1: expected1c', 'OK', '', []),
00064         DiagnosticStatus(0, 'prefix1: expected1d', 'OK', '', []),
00065         DiagnosticStatus(0, 'find1_items: find_remove1a', 'OK', '', []),
00066         DiagnosticStatus(0, 'find1_items: find_remove1b', 'OK', '', []),
00067 
00068         # GenericAnalyzer prefix2
00069         DiagnosticStatus(0, 'contain2a', 'OK', '', []),
00070         DiagnosticStatus(0, 'contain2b', 'OK', '', []),
00071         DiagnosticStatus(0, 'name2', 'OK', '', []),
00072 
00073         # OtherAnalyzer for Other
00074         DiagnosticStatus(2, 'other1', 'Error', '', []),
00075         DiagnosticStatus(0, 'other2', 'OK', '', []),
00076         DiagnosticStatus(0, 'other3', 'OK', '', [])]
00077     array.header.stamp = rospy.get_rostime()
00078 
00079     while not rospy.is_shutdown():
00080         pub.publish(array)
00081         sleep(1)