diag_pub.py
Go to the documentation of this file.
1 #!/usr/bin/env python
2 # Software License Agreement (BSD License)
3 #
4 # Copyright (c) 2009, Willow Garage, Inc.
5 # All rights reserved.
6 #
7 # Redistribution and use in source and binary forms, with or without
8 # modification, are permitted provided that the following conditions
9 # are met:
10 #
11 # * Redistributions of source code must retain the above copyright
12 # notice, this list of conditions and the following disclaimer.
13 # * Redistributions in binary form must reproduce the above
14 # copyright notice, this list of conditions and the following
15 # disclaimer in the documentation and/or other materials provided
16 # with the distribution.
17 # * Neither the name of the Willow Garage nor the names of its
18 # contributors may be used to endorse or promote products derived
19 # from this software without specific prior written permission.
20 #
21 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 # POSSIBILITY OF SUCH DAMAGE.
33 #
34 
35 
36 
37 
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  array = DiagnosticArray()
54  array.status = [
55  # GenericAnalyzer prefix1
56  DiagnosticStatus(0, 'pref1a', 'OK', '', []),
57  DiagnosticStatus(1, 'pref1b', 'Warning', '', []),
58  DiagnosticStatus(0, 'contains1a', 'OK', '', []),
59  DiagnosticStatus(0, 'prefix1: contains1b', 'OK', '', []),
60  DiagnosticStatus(0, 'name1', 'OK', '', []),
61  DiagnosticStatus(0, 'prefix1: expected1a', 'OK', '', []),
62  DiagnosticStatus(0, 'prefix1: expected1b', 'OK', '', []),
63  DiagnosticStatus(0, 'prefix1: expected1c', 'OK', '', []),
64  DiagnosticStatus(0, 'prefix1: expected1d', 'OK', '', []),
65  DiagnosticStatus(0, 'find1_items: find_remove1a', 'OK', '', []),
66  DiagnosticStatus(0, 'find1_items: find_remove1b', 'OK', '', []),
67 
68  # GenericAnalyzer prefix2
69  DiagnosticStatus(0, 'contain2a', 'OK', '', []),
70  DiagnosticStatus(0, 'contain2b', 'OK', '', []),
71  DiagnosticStatus(0, 'name2', 'OK', '', []),
72 
73  # OtherAnalyzer for Other
74  DiagnosticStatus(2, 'other1', 'Error', '', []),
75  DiagnosticStatus(0, 'other2', 'OK', '', []),
76  DiagnosticStatus(0, 'other3', 'OK', '', [])]
77  array.header.stamp = rospy.get_rostime()
78 
79  while not rospy.is_shutdown():
80  pub.publish(array)
81  sleep(1)


diagnostic_aggregator
Author(s): Kevin Watts, Brice Rebsamen
autogenerated on Mon Feb 28 2022 22:16:34