expected_stale_pub.py
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00001 #!/usr/bin/env python
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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)


diagnostic_aggregator
Author(s): Kevin Watts
autogenerated on Fri Jan 3 2014 11:19:06