sanity_diagnostics.py

What is this

This node publishes essential robot topic and node status to /diagnostics.

Publishing Topics

• /diagnostics (diagnostic_msgs/DiagnosticStatus)

  Diagnostics topic

Subscribing Topics

• topics specified in the ~sanity_targets yaml file

Parameter

• ~sanity_targets (String, default: /var/lib/robot/sanity_targets.yaml)

  Yaml file which contains topics and nodes to be monitored.

  Sample yaml format for fetch:

  topics:
    - /audio
    - /base_scan
    - /battery_state
    - /edgetpu_human_pose_estimator/output/image
    - /edgetpu_object_detector/output/image
    - /gripper/imu
    - /head_camera/depth/image_raw
    - /head_camera/rgb/image_raw
    - /imu
    - /insta360/image_raw
    - /joint_states
    - /tf
  
  nodes:
    - /amcl
    - /auto_dock
    - /gripper_driver
    - /head_camera/head_camera_nodelet_manager
    - /move_base
    - /move_group
    - /respeaker_node
    - /robot_driver
    - /roswww
  

• ~duration (Float, default: 60)

  Duration in which sanity is checked.

• ~pub_duration (Float, default: 0.3)

  Duration in which /diagnostics is published.

Usage

Visualize topic and node diagnostics.

roslaunch jsk_tools sample_sanity_diagnostics.launch