Merge pull request #222 from 708yamaguchi/sanity-diagnostics-fetch15

knorth55 · May 20, 2022 · 105b93b · 105b93b
2 parents 21f1acf + 94b9250
commit 105b93b
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Showing 5 changed files with 48 additions and 42 deletions.
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/fetch_analyzers.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/fetch_analyzers.yaml
@@ -119,7 +119,7 @@ analyzers:
       joy:
         type: diagnostic_aggregator/GenericAnalyzer
         path: PS3 Controller
-        find_and_remove_prefix: "joy:"
+        find_and_remove_prefix: "jsk_joy_node:"
   system:
     type: diagnostic_aggregator/AnalyzerGroup
     path: System
@@ -144,3 +144,35 @@ analyzers:
         type: diagnostic_aggregator/GenericAnalyzer
         path: CPU Usage
         startswith: 'my_machine CPU Usage'
+  topics:
+    type: diagnostic_aggregator/AnalyzerGroup
+    path: Topics
+    analyzers:
+      audio:
+        type: diagnostic_aggregator/GenericAnalyzer
+        path: Audio
+        contains: '/audio'
+        timeout: 100
+        discard_stale: true
+      head_depth_image:
+        type: diagnostic_aggregator/GenericAnalyzer
+        path: HeadDepthImage
+        contains: '/head_camera/depth/image_raw'
+        timeout: 100
+        discard_stale: true
+      head_rgb_image:
+        type: diagnostic_aggregator/GenericAnalyzer
+        path: HeadRGBImage
+        contains: '/head_camera/rgb/image_raw'
+        timeout: 100
+        discard_stale: true
+  nodes:
+    type: diagnostic_aggregator/AnalyzerGroup
+    path: Nodes
+    analyzers:
+      head_camera_manager:
+        type: diagnostic_aggregator/GenericAnalyzer
+        path: HeadCameraManager
+        contains: '/head_camera/head_camera_nodelet_manager'
+        timeout: 100
+        discard_stale: true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/sanity_targets.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/sanity_targets.yaml
@@ -0,0 +1,7 @@
+topics:
+  - /audio
+  - /head_camera/depth/image_raw
+  - /head_camera/rgb/image_raw
+
+nodes:
+  - /head_camera/head_camera_nodelet_manager
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/test_device_topics.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/test_device_topics.yaml
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -291,4 +291,12 @@
     </rosparam>
   </node>
 
+  <!-- Publish /diagnostics based on topics and nodes sanity check -->
+  <node name="sanity_diagnostics" pkg="jsk_tools" type="sanity_diagnostics.py">
+    <rosparam command="load" file="$(find jsk_fetch_startup)/config/sanity_targets.yaml" />
+    <rosparam subst_value="true">
+      duration: 60
+    </rosparam>
+  </node>
+
 </launch>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_test_topics.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_test_topics.launch