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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 array = DiagnosticArray()
00054 array.status = [
00055
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
00069 DiagnosticStatus(0, 'contain2a', 'OK', '', []),
00070 DiagnosticStatus(0, 'contain2b', 'OK', '', []),
00071 DiagnosticStatus(0, 'name2', 'OK', '', []),
00072
00073
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)