pub_mech_stats.py

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#!/usr/bin/env python
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##\author Kevin Watts

PKG = 'pr2_mechanism_diagnostics'
import roslib; roslib.load_manifest(PKG)

import rospy
from pr2_mechanism_msgs.msg import MechanismStatistics, ControllerStatistics, JointStatistics

import random


RATE = 1.0

def joint_stat(name, calibrated = True, nan = False):
    jnt_st = JointStatistics()
    jnt_st.name = name
    jnt_st.position = random.uniform(-1, 1)
    if nan:
        jnt_st.position = float('NaN')
    jnt_st.is_calibrated = calibrated
    jnt_st.timestamp = rospy.get_rostime()    

    return jnt_st

def ctrl_stat(name, running = True, overrun = False):
    ctrl_st = ControllerStatistics()
    ctrl_st.name = name
    ctrl_st.timestamp = rospy.get_rostime()
    ctrl_st.running = running
    if overrun:
        ctrl_st.time_last_control_loop_overrun = rospy.get_rostime() - rospy.Duration(5)
        ctrl_st.num_control_loop_overruns = 10

    return ctrl_st

if __name__ == '__main__':
    rospy.init_node('mech_stat_pub')

    pub_cal = rospy.get_param("mech_diag/cal", True)
    pub_nan = rospy.get_param("mech_diag/nan", False)
    
    pub_running = rospy.get_param("mech_diag/running", True)
    pub_overrun = rospy.get_param("mech_diag/overrun", False)

    mech_st = MechanismStatistics()
    mech_st.joint_statistics = [ joint_stat('my_joint', pub_cal, pub_nan) ]
    mech_st.controller_statistics = [ ctrl_stat('my_controller', pub_running, pub_overrun) ]

    pub_mech_stats = rospy.Publisher('mechanism_statistics', MechanismStatistics)
    my_rate = rospy.Rate(RATE)

    while not rospy.is_shutdown():
        pub_mech_stats.publish(mech_st)
        my_rate.sleep()