expected_stale_pub.py
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1 #!/usr/bin/env python
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34 
35 ##\author Kevin Watts
36 
37 ##\brief Publishes messages for aggregator testing of expected items.
38 
39 PKG = 'diagnostic_aggregator'
40 
41 import roslib; roslib.load_manifest(PKG)
42 
43 
44 import rospy
45 from time import sleep
46 
47 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
48 
49 if __name__ == '__main__':
50  rospy.init_node('diag_pub')
51  pub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=10)
52 
53  start_time = rospy.get_time()
54 
55  while not rospy.is_shutdown():
56  array = DiagnosticArray()
57  array.status = [
58  # GenericAnalyzer my_path
59  DiagnosticStatus(0, 'expected1', 'OK', '', []),
60  DiagnosticStatus(1, 'expected2', 'OK', '', []),
61  DiagnosticStatus(2, 'expected3', 'OK', '', []),
62 
63  DiagnosticStatus(0, 'startswith1', 'OK', '', []),
64  DiagnosticStatus(0, 'startswith2', 'OK', '', []),
65  DiagnosticStatus(1, 'startswith3', 'OK', '', []),
66 
67  # OtherAnalyzer for Other
68  DiagnosticStatus(2, 'other2', 'OK', '', []),
69  DiagnosticStatus(0, 'other3', 'OK', '', [])]
70 
71  array.header.stamp = rospy.get_rostime()
72 
73  if rospy.get_time() - start_time < 5:
74  # Shouldn't disappear
75  array.status.append(DiagnosticStatus(0, 'expected4', 'I will be stale', '', []))
76  array.status.append(DiagnosticStatus(0, 'expected5', 'I will be stale', '', []))
77 
78  # Should disappear
79  array.status.append(DiagnosticStatus(2, 'other1', 'Error', '', []))
80 
81  pub.publish(array)
82  sleep(1)


diagnostic_aggregator
Author(s): Kevin Watts, Brice Rebsamen
autogenerated on Thu Oct 8 2020 03:17:16