joints_to_diagnostics.py
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00001 #! /usr/bin/python
00002 # Copyright (c) 2009, Willow Garage, Inc.
00003 # All rights reserved.
00004 # 
00005 # Redistribution and use in source and binary forms, with or without
00006 # modification, are permitted provided that the following conditions are met:
00007 # 
00008 #     * Redistributions of source code must retain the above copyright
00009 #       notice, this list of conditions and the following disclaimer.
00010 #     * Redistributions in binary form must reproduce the above copyright
00011 #       notice, this list of conditions and the following disclaimer in the
00012 #       documentation and/or other materials provided with the distribution.
00013 #     * Neither the name of the Willow Garage, Inc. nor the names of its
00014 #       contributors may be used to endorse or promote products derived from
00015 #       this software without specific prior written permission.
00016 # 
00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027 # POSSIBILITY OF SUCH DAMAGE.
00028 
00029 from __future__ import with_statement
00030 
00031 import roslib; roslib.load_manifest('pr2_controller_manager')
00032 import rospy
00033 
00034 from pr2_mechanism_msgs.msg import MechanismStatistics
00035 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
00036 
00037 import math
00038 
00039 import threading
00040 mutex = threading.Lock()
00041 
00042 has_warned_invalid = False
00043 
00044 # Math.isnan is new in python 2.6, need to check version
00045 import sys
00046 check_nan = False
00047 my_version = sys.version_info
00048 if my_version[0] == 2 and my_version[1] >= 6:
00049     check_nan = True
00050 
00051 def joint_to_diag(js):
00052     global has_warned_invalid
00053     ds = DiagnosticStatus()
00054     ds.level = DiagnosticStatus.OK
00055     ds.message = 'OK'
00056 
00057     # Hack to stop gripper joints from being "uncalibrated"
00058     if not js.is_calibrated and js.name.find("float") < 0 and js.name.find("finger") < 0:
00059         ds.level = DiagnosticStatus.WARN
00060         ds.message = 'Uncalibrated'
00061 
00062     if check_nan and (math.isnan(js.position) or math.isnan(js.velocity) or \
00063             math.isnan(js.measured_effort) or math.isnan(js.commanded_effort)):
00064         ds.level = DiagnosticStatus.ERROR
00065         ds.message = 'NaN in joint data'
00066         if not has_warned_invalid:
00067             rospy.logerr("NaN value for joint data. pr2_controller_manager restart required.")
00068             has_warned_invalid = True
00069 
00070     if check_nan and (math.isinf(js.position) or math.isinf(js.velocity) or \
00071             math.isinf(js.measured_effort) or math.isinf(js.commanded_effort)):
00072         ds.level = DiagnosticStatus.ERROR
00073         ds.message = 'Inf in joint data'
00074         if not has_warned_invalid:
00075             rospy.logerr("Infinite value for joint data. pr2_controller_manager restart required.")
00076             has_warned_invalid = True
00077 
00078     ds.name = "Joint (%s)" % js.name
00079     ds.values = [
00080         KeyValue('Position', str(js.position)),
00081         KeyValue('Velocity', str(js.velocity)),
00082         KeyValue('Measured Effort', str(js.measured_effort)),
00083         KeyValue('Commanded Effort', str(js.commanded_effort)),
00084         KeyValue('Calibrated', str(js.is_calibrated)),
00085         KeyValue('Odometer', str(js.odometer)),
00086         KeyValue('Max Position', str(js.max_position)),
00087         KeyValue('Min Position', str(js.min_position)),
00088         KeyValue('Max Abs. Velocity', str(js.max_abs_velocity)),
00089         KeyValue('Max Abs. Effort', str(js.max_abs_effort)),
00090         KeyValue('Limits Hit', str(js.violated_limits)) ]
00091     
00092     return ds
00093 
00094 
00095 rospy.init_node('joints_to_diagnostics')
00096 
00097 last_msg = None
00098 last_update_time = 0
00099 def state_cb(msg):
00100     with mutex:
00101         global last_msg, last_update_time
00102         last_msg = msg
00103         last_update_time = rospy.get_time()
00104 
00105 def publish_diags():
00106     with mutex:
00107         global last_msg, last_update_time
00108         if last_msg is None:
00109             return
00110         
00111         # Don't publish anything without updates
00112         if rospy.get_time() - last_update_time > 3:
00113             return
00114         
00115         d = DiagnosticArray()
00116         d.header.stamp = last_msg.header.stamp
00117         if last_msg.joint_statistics == []:
00118             ds = DiagnosticStatus()
00119             ds.level = 0
00120             ds.message = 'No Joint states from controller manager'
00121             ds.name = "Joints: none"
00122             d.status = [ds]
00123         else:
00124             d.status = [joint_to_diag(js) for js in last_msg.joint_statistics]
00125         pub_diag.publish(d)
00126 
00127 pub_diag = rospy.Publisher('/diagnostics', DiagnosticArray)
00128 rospy.Subscriber('mechanism_statistics', MechanismStatistics, state_cb)
00129 
00130 my_rate = rospy.Rate(1.0)
00131 while not rospy.is_shutdown():
00132     my_rate.sleep()
00133     publish_diags()
00134 
00135 


sr_edc_controller_configuration
Author(s): Ugo Cupcic, Toni Oliver
autogenerated on Thu Aug 27 2015 15:16:32