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[jsk_fetch_startup] Publish diagnostics for important topics and nodes #1481

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merged 7 commits into from
Aug 12, 2022
Merged

[jsk_fetch_startup] Publish diagnostics for important topics and nodes #1481

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52e2174
[jsk_fetch_startup] Change prefix based on node name change
708yamaguchi May 12, 2022
10e6541
[jsk_fetch_startup] Publish diagnostics for important topics and nodes
708yamaguchi May 12, 2022
8eee36b
[jsk_fetch_startup] Add diagnostics aggregator targets
708yamaguchi May 12, 2022
efaca8e
[jsk_fetch_startup] Check compressed topics for data reduction and ad…
708yamaguchi May 24, 2022
4c8604c
Add jsk_common 2.2.12 to .travis.rosinstall.kinetic for jsk_fetch_sta…
708yamaguchi Aug 9, 2022
ea5bb8d
[jsk_fetch_startup] Add missing dependencies to package.xml
708yamaguchi Aug 10, 2022
5cd00e2
Merge branch 'master' into sanity-diagnostics
k-okada Aug 10, 2022
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6 changes: 6 additions & 0 deletions .travis.rosinstall.kinetic
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,12 @@
local-name: fetchrobotics/fetch_ros
uri: https://github.com/fetchrobotics/fetch_ros.git
version: 0ad250a996a2ef68172fc064698f253bc9cf08d0
# Remove this dependency if jsk_common version 2.2.12 is released in kinetic
# See https://github.com/jsk-ros-pkg/jsk_robot/pull/1481#issuecomment-1209544704
- git:
local-name: jsk-ros-pkg/jsk_common
uri: https://github.com/jsk-ros-pkg/jsk_common.git
version: 2.2.12
# denso_cobotta_control, denso_cobotta_descriptions, denso_cobotta_driver, and denso_cobotta_gripper are not released
- git:
local-name: DENSORobot/denso_cobotta_ros
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34 changes: 33 additions & 1 deletion jsk_fetch_robot/jsk_fetch_startup/config/fetch_analyzers.yaml
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Expand Up @@ -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
Expand All @@ -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
9 changes: 9 additions & 0 deletions jsk_fetch_robot/jsk_fetch_startup/config/sanity_targets.yaml
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@@ -0,0 +1,9 @@
topics:
- /audio
- /edgetpu_human_pose_estimator/output/image/compressed
- /edgetpu_object_detector/output/image/compressed
- /head_camera/depth/image_raw
- /head_camera/rgb/image_raw

nodes:
- /head_camera/head_camera_nodelet_manager
8 changes: 8 additions & 0 deletions jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
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Expand Up @@ -270,4 +270,12 @@
<include file="$(find jsk_fetch_startup)/launch/fetch_rosserial.launch" />
</group>

<!-- 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>
6 changes: 6 additions & 0 deletions jsk_fetch_robot/jsk_fetch_startup/package.xml
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Expand Up @@ -15,17 +15,23 @@

<run_depend>image_proc</run_depend>
<run_depend>jsk_fetch_accessories</run_depend>
<run_depend>jsk_fetch_diagnosis</run_depend>
<run_depend>jsk_network_tools</run_depend>
<run_depend>jsk_robot_startup</run_depend>
<run_depend version_gte="2.2.12">jsk_tools</run_depend>
<run_depend>jsk_maps</run_depend>
<run_depend>fetcheus</run_depend>
<run_depend>fetch_navigation</run_depend>
<run_depend>fetch_moveit_config</run_depend>
<run_depend>fetch_open_auto_dock</run_depend>
<run_depend>fetch_driver_msgs</run_depend>
<run_depend>nodelet</run_depend>
<run_depend>pr2_computer_monitor</run_depend>
<run_depend>robot_pose_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>tf</run_depend>
<run_depend>touchegg</run_depend>
<run_depend>sound_play</run_depend>
<run_depend>switchbot_ros</run_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>voice_text</run_depend>
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