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[Personalrobots-commit] SF.net SVN: personalrobots:[21122] pkg/trunk
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From: <wa...@us...> - 2009-08-08 03:16:05
|
Revision: 21122
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21122&view=rev
Author: wattsk
Date: 2009-08-08 03:15:54 +0000 (Sat, 08 Aug 2009)
Log Message:
-----------
Changed DiagnosticMessage to DiagnosticArray
Modified Paths:
--------------
pkg/trunk/calibration/joint_calibration_monitor/scripts/pr2_calibration_monitor_node.py
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_trajectory_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/joint_trajectory_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml
pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_trajectory_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/base_trajectory_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/joint_trajectory_controller.cpp
pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/manifest.xml
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_wrench_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_inverse_dynamics_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/manifest.xml
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h
pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp
pkg/trunk/drivers/ups/apcupsd_node/scripts/monitor
pkg/trunk/highlevel/doors/doors_core/src/move_base_door_action.cpp
pkg/trunk/pr2/life_test/caster_life_test/periodic_drive.py
pkg/trunk/pr2/life_test/scripts/ethercat_test_monitor.py
pkg/trunk/pr2/life_test/src/life_test/life_test.py
pkg/trunk/pr2/pr2_computer_monitor/scripts/cpu_monitor.py
pkg/trunk/pr2/pr2_computer_monitor/scripts/hd_monitor.py
pkg/trunk/pr2/pr2_computer_monitor/scripts/ntp_monitor.py
pkg/trunk/stacks/common/robot_actions/include/robot_actions/action.h
pkg/trunk/stacks/hardware_test/diagnostic_test/scripts/diagnostic_test.py
pkg/trunk/stacks/hardware_test/diagnostic_test/test/expected_publisher.py
pkg/trunk/stacks/hardware_test/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.h
pkg/trunk/stacks/hardware_test/runtime_monitor/scripts/log_runtime_messages
pkg/trunk/stacks/hardware_test/runtime_monitor/scripts/monitor
pkg/trunk/stacks/hardware_test/runtime_monitor/scripts/test_high_level
pkg/trunk/stacks/hardware_test/runtime_monitor/src/runtime_monitor/monitor_panel.py
pkg/trunk/stacks/hardware_test/runtime_monitor/testmonitor.py
pkg/trunk/stacks/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h
pkg/trunk/stacks/mechanism/mechanism_control/scripts/joints_to_diagnostics.py
pkg/trunk/stacks/pr2/pr2_etherCAT/src/main.cpp
pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/include/ethercat_hardware/ethercat_device.h
pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/include/ethercat_hardware/ethercat_hardware.h
Added Paths:
-----------
pkg/trunk/stacks/common_msgs/diagnostic_msgs/msg/DiagnosticArray.msg
Removed Paths:
-------------
pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/backlash_controller.h
pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/src/backlash_controller.cpp
pkg/trunk/stacks/common_msgs/diagnostic_msgs/msg/DiagnosticMessage.msg
Modified: pkg/trunk/calibration/joint_calibration_monitor/scripts/pr2_calibration_monitor_node.py
===================================================================
--- pkg/trunk/calibration/joint_calibration_monitor/scripts/pr2_calibration_monitor_node.py 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/calibration/joint_calibration_monitor/scripts/pr2_calibration_monitor_node.py 2009-08-08 03:15:54 UTC (rev 21122)
@@ -41,7 +41,7 @@
import threading
import math
-from diagnostic_msgs.msg import DiagnosticMessage
+from diagnostic_msgs.msg import DiagnosticArray
from mechanism_msgs.msg import MechanismState
from roslib import rostime
from joint_calibration_monitor.generic_joint_monitor import *
@@ -93,7 +93,7 @@
100) )
- pub = rospy.Publisher("/diagnostics", DiagnosticMessage)
+ pub = rospy.Publisher("/diagnostics", DiagnosticArray)
sub = rospy.Subscriber('mechanism_state', MechanismState,
mech_state_callback, None)
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_trajectory_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_trajectory_controller.h 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_trajectory_controller.h 2009-08-08 03:15:54 UTC (rev 21122)
@@ -58,7 +58,7 @@
#include <manipulation_msgs/JointTraj.h>
#include <manipulation_msgs/JointTrajPoint.h>
-#include <diagnostic_msgs/DiagnosticMessage.h>
+#include <diagnostic_msgs/DiagnosticArray.h>
#include <pr2_mechanism_controllers/TrajectoryStart.h>
#include <pr2_mechanism_controllers/TrajectoryQuery.h>
@@ -239,7 +239,7 @@
void publishDiagnostics();
- realtime_tools::RealtimePublisher <diagnostic_msgs::DiagnosticMessage>* diagnostics_publisher_ ; //!< Publishes controller information
+ realtime_tools::RealtimePublisher <diagnostic_msgs::DiagnosticArray>* diagnostics_publisher_ ; //!< Publishes controller information
/*!
* \brief mutex lock for setting and getting ros messages
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/caster_controller.h 2009-08-08 03:15:54 UTC (rev 21122)
@@ -38,6 +38,7 @@
<wheel_pid p="4.0" i="0.0" d="0.0" iClamp="0.0" />
</controller>
*/
+
#ifndef CASTER_CONTROLLER_H
#define CASTER_CONTROLLER_H
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/joint_trajectory_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/joint_trajectory_controller.h 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/joint_trajectory_controller.h 2009-08-08 03:15:54 UTC (rev 21122)
@@ -43,7 +43,7 @@
// Services
#include <manipulation_msgs/JointTraj.h>
#include <manipulation_msgs/JointTrajPoint.h>
-#include <diagnostic_msgs/DiagnosticMessage.h>
+#include <diagnostic_msgs/DiagnosticArray.h>
#include <pr2_mechanism_controllers/TrajectoryStart.h>
#include <pr2_mechanism_controllers/TrajectoryQuery.h>
@@ -176,7 +176,7 @@
bool watch_dog_active_;
- realtime_tools::RealtimePublisher <diagnostic_msgs::DiagnosticMessage>* diagnostics_publisher_ ; /**< Publishes controller information as a diagnostic message */
+ realtime_tools::RealtimePublisher <diagnostic_msgs::DiagnosticArray>* diagnostics_publisher_ ; /**< Publishes controller information as a diagnostic message */
/*!
* \brief mutex lock for setting and getting ros messages
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml 2009-08-08 03:15:54 UTC (rev 21122)
@@ -27,7 +27,7 @@
<depend package="filters" />
<depend package="geometry_msgs" />
<depend package="manipulation_msgs" />
-
+ <depend package="diagnostic_msgs" />
<url>http://pr.willowgarage.com</url>
<repository>http://pr.willowgarage.com/repos</repository>
<export>
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_trajectory_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_trajectory_controller.cpp 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_trajectory_controller.cpp 2009-08-08 03:15:54 UTC (rev 21122)
@@ -409,7 +409,7 @@
if (diagnostics_publisher_ != NULL)// Make sure that we don't memory leak if initXml gets called twice
delete diagnostics_publisher_ ;
- diagnostics_publisher_ = new realtime_tools::RealtimePublisher <diagnostic_msgs::DiagnosticMessage> ("/diagnostics", 2) ;
+ diagnostics_publisher_ = new realtime_tools::RealtimePublisher <diagnostic_msgs::DiagnosticArray> ("/diagnostics", 2) ;
last_diagnostics_publish_time_ = c_->robot_->hw_->current_time_;
node_->param<double>(service_prefix_ + "/diagnostics_publish_delta_time",diagnostics_publish_delta_time_,0.05);
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/base_trajectory_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/base_trajectory_controller.cpp 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/base_trajectory_controller.cpp 2009-08-08 03:15:54 UTC (rev 21122)
@@ -35,7 +35,7 @@
* Author: Sachin Chitta
*********************************************************************/
#include <pr2_mechanism_controllers/base_trajectory_controller.h>
-#include <diagnostic_msgs/DiagnosticMessage.h>
+#include <diagnostic_msgs/DiagnosticArray.h>
#include <diagnostic_msgs/DiagnosticStatus.h>
#include <ros/rate.h>
@@ -85,7 +85,7 @@
ros_node_.advertise<geometry_msgs::Twist>(control_topic_name_, 1);
ros_node_.subscribe(path_input_topic_name_,path_msg_in_, &BaseTrajectoryController::pathCallback, this, 1);
- ros_node_.advertise<diagnostic_msgs::DiagnosticMessage> ("/diagnostics", 1) ;
+ ros_node_.advertise<diagnostic_msgs::DiagnosticArray> ("/diagnostics", 1) ;
last_diagnostics_publish_time_ = ros::Time::now();
current_time_ = ros::Time::now().toSec();
@@ -279,7 +279,7 @@
return;
}
- diagnostic_msgs::DiagnosticMessage message;
+ diagnostic_msgs::DiagnosticArray message;
std::vector<diagnostic_msgs::DiagnosticStatus> statuses;
std::vector<diagnostic_msgs::KeyValue> values;
std::vector<diagnostic_msgs::DiagnosticString> strings;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/joint_trajectory_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/joint_trajectory_controller.cpp 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/joint_trajectory_controller.cpp 2009-08-08 03:15:54 UTC (rev 21122)
@@ -162,7 +162,7 @@
if (diagnostics_publisher_ != NULL)// Make sure that we don't memory leak if initXml gets called twice
delete diagnostics_publisher_ ;
- diagnostics_publisher_ = new realtime_tools::RealtimePublisher <diagnostic_msgs::DiagnosticMessage> ("/diagnostics", 2) ;
+ diagnostics_publisher_ = new realtime_tools::RealtimePublisher <diagnostic_msgs::DiagnosticArray> ("/diagnostics", 2) ;
last_diagnostics_publish_time_ = robot_->hw_->current_time_;
node_->param<double>(prefix_+"diagnostics_publish_delta_time",diagnostics_publish_delta_time_,0.05);
Deleted: pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/backlash_controller.h
===================================================================
--- pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/backlash_controller.h 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/include/joint_qualification_controllers/backlash_controller.h 2009-08-08 03:15:54 UTC (rev 21122)
@@ -1,134 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2008, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of the Willow Garage nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-#pragma once
-
-/***************************************************/
-/*! \class controller::BacklashController
- \brief Backlash Controller
-
- This class attempts to find backlash in joint.
-*/
-/***************************************************/
-
-
-#include <ros/node.h>
-#include <math.h>
-#include <diagnostic_msgs/DiagnosticMessage.h>
-#include <realtime_tools/realtime_publisher.h>
-#include <realtime_tools/realtime_srv_call.h>
-#include <mechanism_control/controller.h>
-#include <control_toolbox/sine_sweep.h>
-#include <robot_mechanism_controllers/joint_velocity_controller.h>
-#include <joint_qualification_controllers/TestData.h>
-
-namespace controller
-{
-
-class BacklashController : public Controller
-{
-public:
- /*!
- * \brief Default Constructor of the BacklashController class.
- *
- */
- BacklashController();
-
- /*!
- * \brief Destructor of the BacklashController class.
- */
- ~BacklashController();
-
- /*!
- * \brief Functional way to initialize.
- * \param freq Freq of backlash test (Hz).
- * \param amplitude The amplitude of the sweep (N).
- * \param duration The duration in seconds from start to finish (s).
- * \param error_tolerance Maximum error permitted
- * \param time The current hardware time.
- * \param *robot The robot that is being controlled.
- */
- void init(double freq, double duration, double amplitude, double error_tolerance, double time, std::string name,mechanism::RobotState *robot);
- bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
-
- void analysis();
- virtual void update();
-
- inline bool done() { return done_; }
-
- diagnostic_msgs::DiagnosticMessage diagnostic_message_;
- joint_qualification_controllers::TestData::Request test_data_;
-
-private:
- mechanism::JointState *joint_state_; /**< Joint we're controlling. */
- mechanism::RobotState *robot_; /**< Pointer to robot structure. */
- double duration_; /**< Duration of the test. */
- double initial_time_; /**< Start time of the test. */
- int count_;
- bool done_;
- double last_time_;
- double amplitude_;
- double freq_;
-
-};
-
-/***************************************************/
-/*! \class controller::BacklashControllerNode
- \brief Backlash Controller ROS Node
-
-*/
-/***************************************************/
-
-class BacklashControllerNode : public Controller
-{
-public:
-
- BacklashControllerNode();
- ~BacklashControllerNode();
-
- void update();
- bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
-
-private:
- bool data_sent_;
- BacklashController *c_;
- mechanism::RobotState *robot_;
-
- double last_publish_time_;
- realtime_tools::RealtimeSrvCall<joint_qualification_controllers::TestData::Request, joint_qualification_controllers::TestData::Response> call_service_;
- realtime_tools::RealtimePublisher<diagnostic_msgs::DiagnosticMessage> pub_diagnostics_;
-};
-}
-
-
Modified: pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/manifest.xml
===================================================================
--- pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/manifest.xml 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/manifest.xml 2009-08-08 03:15:54 UTC (rev 21122)
@@ -7,7 +7,6 @@
<depend package="mechanism_model" />
<depend package="wg_robot_description_parser" />
<depend package="realtime_tools" />
- <depend package="robot_msgs" />
<depend package="control_toolbox" />
<depend package="roscpp" />
<depend package="robot_mechanism_controllers" />
Deleted: pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/src/backlash_controller.cpp
===================================================================
--- pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/src/backlash_controller.cpp 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/controllers/qualification_controllers/joint_qualification_controllers/src/backlash_controller.cpp 2009-08-08 03:15:54 UTC (rev 21122)
@@ -1,226 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2008, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of the Willow Garage nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-#include <joint_qualification_controllers/backlash_controller.h>
-#include <math.h>
-
-using namespace std;
-using namespace control_toolbox;
-
-namespace controller {
-
-ROS_REGISTER_CONTROLLER(BacklashController)
-
-BacklashController::BacklashController():
-joint_state_(NULL), robot_(NULL)
-{
- test_data_.test_name ="backlash";
- test_data_.joint_name = "default joint";
- test_data_.time.resize(80000);
- test_data_.cmd.resize(80000);
- test_data_.effort.resize(80000);
- test_data_.position.resize(80000);
- test_data_.velocity.resize(80000);
- test_data_.arg_name.resize(1);
- test_data_.arg_name[0]="error_tolerance";
- test_data_.arg_value.resize(1);
- duration_ =0.0;
- initial_time_=0;
- last_time_=0;
- count_=0;
- done_=0;
-}
-
-BacklashController::~BacklashController()
-{
-}
-
-void BacklashController::init(double freq, double duration, double amplitude, double error_tolerance, double time, std::string name,mechanism::RobotState *robot)
-{
- assert(robot);
- robot_ = robot;
- joint_state_ = robot->getJointState(name);
- test_data_.joint_name = name;
- freq_ = freq;
- amplitude_ = amplitude;
- test_data_.arg_value[0] = error_tolerance;
- duration_ = duration; //in seconds
- initial_time_ = time; //in seconds
-
-}
-
-bool BacklashController::initXml(mechanism::RobotState *robot, TiXmlElement *config)
-{
-
- TiXmlElement *jnt = config->FirstChildElement("joint");
- if (jnt)
- {
- double freq = atof(jnt->FirstChildElement("controller_defaults")->Attribute("freq"));
- double amplitude = atof(jnt->FirstChildElement("controller_defaults")->Attribute("amplitude"));
- double duration = atof(jnt->FirstChildElement("controller_defaults")->Attribute("duration"));
- double error_tolerance = atof(jnt->FirstChildElement("controller_defaults")->Attribute("error_tolerance"));
- init(freq, duration, amplitude, error_tolerance, robot->hw_->current_time_,jnt->Attribute("name"), robot);
- }
- return true;
-}
-
-void BacklashController::update()
-{
- double time = robot_->hw_->current_time_;
- // wait until the joint is calibrated if it has limits
- if(!joint_state_->calibrated_ && joint_state_->joint_->type_!=mechanism::JOINT_CONTINUOUS)
- {
- initial_time_ = time;
- last_time_ = time;
- return;
- }
-
- if((time-initial_time_)<=duration_)
- {
- //double A=amplitude_*(time-initial_time_)/duration_;
- //joint_state_->commanded_effort_ = A*sin((time-initial_time_)*2*M_PI*freq_);
-
- double A=amplitude_; //Eric's hack
- joint_state_->commanded_effort_ = A * ((sin(time-initial_time_*2*M_PI*freq_))>0 ? 1 : -1);
-
- if (count_<80000 && !done_)
- {
- test_data_.time[count_] = time;
- test_data_.cmd[count_] = joint_state_->commanded_effort_;
- test_data_.effort[count_] = joint_state_->applied_effort_;
- test_data_.position[count_] = joint_state_->position_;
- test_data_.velocity[count_] = joint_state_->velocity_;
- count_++;
- }
- }
- else if(!done_)
- {
- joint_state_->commanded_effort_=0;
- analysis();
- done_=1;
- }
- else
- {
- joint_state_->commanded_effort_=0;
- }
-}
-
-void BacklashController::analysis()
-{
- diagnostic_message_.set_status_size(1);
- robot_msgs::DiagnosticStatus *status = &diagnostic_message_.status[0];
-
- status->name = "BacklashTest";
- count_ = count_ - 1;
- //test done
- assert(count_ > 0);
- status->level = 0;
- status->message = "OK: Done.";
- test_data_.time.resize(count_);
- test_data_.cmd.resize(count_);
- test_data_.effort.resize(count_);
- test_data_.position.resize(count_);
- test_data_.velocity.resize(count_);
-
- return;
-}
-
-
-
-
-ROS_REGISTER_CONTROLLER(BacklashControllerNode)
-BacklashControllerNode::BacklashControllerNode() : data_sent_(false), last_publish_time_(0), call_service_("/test_data"), pub_diagnostics_("/diagnostics", 1)
-{
- c_ = new BacklashController();
-}
-
-BacklashControllerNode::~BacklashControllerNode()
-{
- delete c_;
-}
-
-void BacklashControllerNode::update()
-{
- c_->update();
-
- // Publishes service response
- if (c_->done())
- {
- if(!data_sent_)
- {
- if (call_service_.trylock())
- {
- joint_qualification_controllers::TestData::Request *out = &call_service_.srv_req_;
- out->test_name = c_->test_data_.test_name;
- out->joint_name = c_->test_data_.joint_name;
- out->time = c_->test_data_.time;
- out->cmd = c_->test_data_.cmd;
- out->effort = c_->test_data_.effort;
- out->position = c_->test_data_.position;
- out->velocity = c_->test_data_.velocity;
- out->arg_name = c_->test_data_.arg_name;
- out->arg_value = c_->test_data_.arg_value;
- call_service_.unlockAndCall();
- data_sent_ = true;
- }
- }
- if (last_publish_time_ + 0.5 < robot_->hw_->current_time_)
- {
- if (pub_diagnostics_.trylock())
- {
- last_publish_time_ = robot_->hw_->current_time_;
-
- robot_msgs::DiagnosticStatus *out = &pub_diagnostics_.msg_.status[0];
- out->name = c_->diagnostic_message_.status[0].name;
- out->level = c_->diagnostic_message_.status[0].level;
- out->message = c_->diagnostic_message_.status[0].message;
- pub_diagnostics_.unlockAndPublish();
- }
- }
- }
-}
-
-
-bool BacklashControllerNode::initXml(mechanism::RobotState *robot, TiXmlElement *config)
-{
- assert(robot);
- robot_ = robot;
-
- if (!c_->initXml(robot, config))
- return false;
-
- pub_diagnostics_.msg_.set_status_size(1);
- return true;
-}
-
-}
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_wrench_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_wrench_controller.h 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_wrench_controller.h 2009-08-08 03:15:54 UTC (rev 21122)
@@ -43,7 +43,7 @@
#include <mechanism_control/controller.h>
#include <mechanism_model/chain.h>
#include <tf/transform_datatypes.h>
-#include <diagnostic_msgs/DiagnosticMessage.h>
+#include <diagnostic_msgs/DiagnosticArray.h>
#include <realtime_tools/realtime_publisher.h>
#include <boost/scoped_ptr.hpp>
@@ -79,8 +79,8 @@
KDL::JntArray jnt_pos_, jnt_eff_;
KDL::Jacobian jacobian_;
- diagnostic_msgs::DiagnosticMessage diagnostics_;
- realtime_tools::RealtimePublisher <diagnostic_msgs::DiagnosticMessage> diagnostics_publisher_;
+ diagnostic_msgs::DiagnosticArray diagnostics_;
+ realtime_tools::RealtimePublisher <diagnostic_msgs::DiagnosticArray> diagnostics_publisher_;
ros::Time diagnostics_time_;
ros::Duration diagnostics_interval_;
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_inverse_dynamics_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_inverse_dynamics_controller.h 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_inverse_dynamics_controller.h 2009-08-08 03:15:54 UTC (rev 21122)
@@ -49,7 +49,7 @@
#include <mechanism_control/controller.h>
#include <mechanism_model/chain.h>
#include <tf/transform_datatypes.h>
-#include <diagnostic_msgs/DiagnosticMessage.h>
+#include <diagnostic_msgs/DiagnosticArray.h>
#include <realtime_tools/realtime_publisher.h>
#include <boost/scoped_ptr.hpp>
#include <filters/filter_chain.h>
@@ -94,8 +94,8 @@
KDL::JntArrayVel jnt_posvel_meas_;
KDL::JntArrayAcc jnt_posvelacc_control_;
double Kp_acc_,Kv_acc_,Kf_acc_,Kp_tau_,Kv_tau_;
- diagnostic_msgs::DiagnosticMessage diagnostics_;
- realtime_tools::RealtimePublisher <diagnostic_msgs::DiagnosticMessage> diagnostics_publisher_;
+ diagnostic_msgs::DiagnosticArray diagnostics_;
+ realtime_tools::RealtimePublisher <diagnostic_msgs::DiagnosticArray> diagnostics_publisher_;
ros::Time diagnostics_time_;
ros::Duration diagnostics_interval_;
Modified: pkg/trunk/controllers/robot_mechanism_controllers/manifest.xml
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/manifest.xml 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/controllers/robot_mechanism_controllers/manifest.xml 2009-08-08 03:15:54 UTC (rev 21122)
@@ -26,6 +26,7 @@
<depend package="joy" />
<depend package="eigen" />
<depend package="filters" />
+ <depend package="diagnostic_msgs" />
<url>http://pr.willowgarage.com</url>
<repository>http://pr.willowgarage.com/repos</repository>
<export>
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_battery.h 2009-08-08 03:15:54 UTC (rev 21122)
@@ -36,7 +36,7 @@
#include <gazebo/Entity.hh>
#include <gazebo/Model.hh>
#include <pr2_msgs/BatteryState.h>
-#include <diagnostic_msgs/DiagnosticMessage.h>
+#include <diagnostic_msgs/DiagnosticArray.h>
#include <diagnostic_msgs/DiagnosticStatus.h>
#include <gazebo_plugin/PlugCommand.h>
#include <ros/ros.h>
@@ -111,7 +111,7 @@
pr2_msgs::BatteryState battery_state_;
/// \brief ros message for diagnostic messages
- diagnostic_msgs::DiagnosticMessage diagnostic_message_;
+ diagnostic_msgs::DiagnosticArray diagnostic_message_;
diagnostic_msgs::DiagnosticStatus diagnostic_status_;
/// \brief pointer to ros node
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_battery.cpp 2009-08-08 03:15:54 UTC (rev 21122)
@@ -71,7 +71,7 @@
this->stateTopicName_ = node->GetString("stateTopicName","battery_state",0);
this->pub_ = this->rosnode_->advertise<pr2_msgs::BatteryState>(this->stateTopicName_,10);
//this->diagnosticMessageTopicName_ = node->GetString("diagnosticMessageTopicName","diagnostic",0);
- //this->diag_pub_ = this->rosnode_->advertise<diagnostic_msgs::DiagnosticMessage>(this->diagnosticMessageTopicName_,10);
+ //this->diag_pub_ = this->rosnode_->advertise<diagnostic_msgs::DiagnosticArray>(this->diagnosticMessageTopicName_,10);
/// faking the plug and unplug of robot
this->sub_ = this->rosnode_->subscribe("plugged_in",10,&GazeboBattery::SetPlug,this);
Modified: pkg/trunk/drivers/ups/apcupsd_node/scripts/monitor
===================================================================
--- pkg/trunk/drivers/ups/apcupsd_node/scripts/monitor 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/drivers/ups/apcupsd_node/scripts/monitor 2009-08-08 03:15:54 UTC (rev 21122)
@@ -48,8 +48,9 @@
import rospy
from robot_msgs.msg import BatteryState
-from diagnostic_msgs.msg import DiagnosticMessage, DiagnosticStatus, KeyValue, DiagnosticString
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue, DiagnosticString
+
NAME = 'monitor'
import socket
@@ -119,7 +120,7 @@
item.label = k
item.value = v
diag.strings.append(item)
- msg = DiagnosticMessage(None, [diag])
+ msg = DiagnosticArray(None, [diag])
return msg
class batteryStateGenerator:
@@ -172,7 +173,7 @@
if __name__ == '__main__':
rospy.init_node(NAME)
- diag_pub = rospy.Publisher("/diagnostics", DiagnosticMessage)
+ diag_pub = rospy.Publisher("/diagnostics", DiagnosticArray)
battery_state_pub = rospy.Publisher("battery_state", BatteryState)
try:
Modified: pkg/trunk/highlevel/doors/doors_core/src/move_base_door_action.cpp
===================================================================
--- pkg/trunk/highlevel/doors/doors_core/src/move_base_door_action.cpp 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/highlevel/doors/doors_core/src/move_base_door_action.cpp 2009-08-08 03:15:54 UTC (rev 21122)
@@ -40,7 +40,7 @@
#include <kdl/frames.hpp>
#include <ros/rate.h>
-#include <diagnostic_msgs/DiagnosticMessage.h>
+#include <diagnostic_msgs/DiagnosticArray.h>
@@ -72,7 +72,7 @@
ros_node_.advertise<visualization_msgs::Polyline>("~gui_path", 1);
ros_node_.advertise<visualization_msgs::Polyline>("~local_path", 1);
ros_node_.advertise<visualization_msgs::Polyline>("~robot_footprint", 1);
- ros_node_.advertise<diagnostic_msgs::DiagnosticMessage> ("/diagnostics", 1) ;
+ ros_node_.advertise<diagnostic_msgs::DiagnosticArray> ("/diagnostics", 1) ;
//pass on some parameters to the components of the move base node if they are not explicitly overridden
//(perhaps the controller and the planner could operate in different frames)
@@ -428,7 +428,7 @@
return;
}
- diagnostic_msgs::DiagnosticMessage message;
+ diagnostic_msgs::DiagnosticArray message;
std::vector<diagnostic_msgs::DiagnosticStatus> statuses;
diagnostic_msgs::DiagnosticStatus status_planner = planner_->getDiagnostics();
Modified: pkg/trunk/pr2/life_test/caster_life_test/periodic_drive.py
===================================================================
--- pkg/trunk/pr2/life_test/caster_life_test/periodic_drive.py 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/pr2/life_test/caster_life_test/periodic_drive.py 2009-08-08 03:15:54 UTC (rev 21122)
@@ -30,7 +30,7 @@
import time
import random
import roslib
-roslib.load_manifest('caster_life_test')
+roslib.load_manifest('life_test')
import rospy
from std_msgs.msg import Float64
from mechanism_msgs.msg import MechanismState
@@ -57,7 +57,7 @@
speed = -SPEED
last_time = 0
rospy.init_node('periodic_drive', anonymous=True)
- last_state = LastMessage('/mechanism_state', MechanismState)
+ last_state = LastMessage('/joint_state', JointStates)
pub_steer = rospy.Publisher("/caster/steer_velocity", Float64)
pub_drive = rospy.Publisher("/caster/drive_effort", Float64)
pub_steer.publish(Float64(0.0))
@@ -66,11 +66,11 @@
while not last_state.msg: pass
while not rospy.is_shutdown():
time.sleep(0.01)
- mech_state = last_state.last()
+ joint_state = last_state.last()
rotation_state = None
- for joint_state in mech_state.joint_states:
- if joint_state.name == ROTATION_JOINT:
- rotation_state = joint_state
+ for state in joint_state.joints:
+ if state.name == ROTATION_JOINT:
+ rotation_state = state
break
if not rotation_state:
print "The %s joint was not found in the mechanism state" % ROTATION_JOINT
Modified: pkg/trunk/pr2/life_test/scripts/ethercat_test_monitor.py
===================================================================
--- pkg/trunk/pr2/life_test/scripts/ethercat_test_monitor.py 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/pr2/life_test/scripts/ethercat_test_monitor.py 2009-08-08 03:15:54 UTC (rev 21122)
@@ -75,8 +75,8 @@
self._trans_status = []
self.test_status_pub = rospy.Publisher('test_status', TestStatus)
- self.diag_sub = rospy.Subscriber('/diagnostics', DiagnosticMessage, self.diag_callback)
- self.diag_pub = rospy.Publisher('/diagnostics', DiagnosticMessage)
+ self.diag_sub = rospy.Subscriber('/diagnostics', DiagnosticArray, self.diag_callback)
+ self.diag_pub = rospy.Publisher('/diagnostics', DiagnosticArray)
self.reset_motors = rospy.ServiceProxy('reset_motors', Empty)
self.halt_motors = rospy.ServiceProxy('halt_motors', Empty)
Modified: pkg/trunk/pr2/life_test/src/life_test/life_test.py
===================================================================
--- pkg/trunk/pr2/life_test/src/life_test/life_test.py 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/pr2/life_test/src/life_test/life_test.py 2009-08-08 03:15:54 UTC (rev 21122)
@@ -48,9 +48,11 @@
from wx import xrc
import rospy
-from std_srvs.srv import *
-from diagnostic_msgs.msg import DiagnosticMessage, DiagnosticStatus, KeyValue, DiagnosticString
+from std_srvs.srv import *
+#from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue, DiagnosticString
+
+
# Stuff from life_test package
from msg import TestStatus
from test_param import TestParam, LifeTest
Modified: pkg/trunk/pr2/pr2_computer_monitor/scripts/cpu_monitor.py
===================================================================
--- pkg/trunk/pr2/pr2_computer_monitor/scripts/cpu_monitor.py 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/pr2/pr2_computer_monitor/scripts/cpu_monitor.py 2009-08-08 03:15:54 UTC (rev 21122)
@@ -438,7 +438,7 @@
def __init__(self, hostname):
rospy.init_node('cpu_monitor_%s' % hostname)
- self._diag_pub = rospy.Publisher('/diagnostics', DiagnosticMessage)
+ self._diag_pub = rospy.Publisher('/diagnostics', DiagnosticArray)
self._mutex = threading.Lock()
@@ -681,7 +681,7 @@
update_status_stale(self._usage_stat, self._last_usage_time)
update_status_stale(self._nfs_stat, self._last_nfs_time)
- msg = DiagnosticMessage()
+ msg = DiagnosticArray()
msg.status.append(self._temp_stat)
msg.status.append(self._usage_stat)
msg.status.append(self._nfs_stat)
Modified: pkg/trunk/pr2/pr2_computer_monitor/scripts/hd_monitor.py
===================================================================
--- pkg/trunk/pr2/pr2_computer_monitor/scripts/hd_monitor.py 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/pr2/pr2_computer_monitor/scripts/hd_monitor.py 2009-08-08 03:15:54 UTC (rev 21122)
@@ -122,7 +122,7 @@
self._no_temp_warn = rospy.get_param('no_hd_temp_warn', False)
self._home_dir = home_dir
- self._diag_pub = rospy.Publisher('/diagnostics', DiagnosticMessage)
+ self._diag_pub = rospy.Publisher('/diagnostics', DiagnosticArray)
self._temp_stat = DiagnosticStatus()
self._temp_stat.name = "%s HD Temperature" % hostname
@@ -314,7 +314,7 @@
self._mutex.acquire()
update_status_stale(self._temp_stat, self._last_temp_time)
- msg = DiagnosticMessage()
+ msg = DiagnosticArray()
msg.status.append(self._temp_stat)
if self._home_dir != '':
update_status_stale(self._usage_stat, self._last_usage_time)
Modified: pkg/trunk/pr2/pr2_computer_monitor/scripts/ntp_monitor.py
===================================================================
--- pkg/trunk/pr2/pr2_computer_monitor/scripts/ntp_monitor.py 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/pr2/pr2_computer_monitor/scripts/ntp_monitor.py 2009-08-08 03:15:54 UTC (rev 21122)
@@ -34,7 +34,8 @@
import roslib
roslib.load_manifest('pr2_computer_monitor')
-from diagnostic_msgs.msg import DiagnosticMessage, DiagnosticStatus, KeyValue, DiagnosticString
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue, DiagnosticString
+
import sys
import rospy
import socket
@@ -47,7 +48,7 @@
NAME = 'ntp_monitor'
def ntp_monitor(ntp_hostname, offset=500):
- pub = rospy.Publisher("/diagnostics", DiagnosticMessage)
+ pub = rospy.Publisher("/diagnostics", DiagnosticArray)
rospy.init_node(NAME, anonymous=True)
hostname = socket.gethostbyaddr(socket.gethostname())[0]
@@ -88,7 +89,7 @@
stat.message = "Error running ntpupdate"
stat.strings = [ DiagnosticString("N/A","offset (us)") ]
- pub.publish(DiagnosticMessage(None, [stat]))
+ pub.publish(DiagnosticArray(None, [stat]))
time.sleep(1)
def ntp_monitor_main(argv=sys.argv):
Modified: pkg/trunk/stacks/common/robot_actions/include/robot_actions/action.h
===================================================================
--- pkg/trunk/stacks/common/robot_actions/include/robot_actions/action.h 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/common/robot_actions/include/robot_actions/action.h 2009-08-08 03:15:54 UTC (rev 21122)
@@ -49,7 +49,7 @@
#include <robot_actions/ActionStatus.h>
#include <boost/bind.hpp>
#include <boost/thread.hpp>
-#include <diagnostic_msgs/DiagnosticMessage.h>
+#include <diagnostic_msgs/DiagnosticArray.h>
#include "ros/assert.h"
#include "ros/ros.h"
@@ -194,7 +194,7 @@
: _name(name), _preempt_request(false), _result_status(SUCCESS), _terminated(false), _action_thread(NULL), _callback(NULL),_diagnostics_statuses(1){
_status.value = ActionStatus::RESET;
_node = new ros::NodeHandle();
- _diagnostics_publisher = _node->advertise<diagnostic_msgs::DiagnosticMessage> ("/diagnostics", 1) ;
+ _diagnostics_publisher = _node->advertise<diagnostic_msgs::DiagnosticArray> ("/diagnostics", 1) ;
}
virtual ~Action(){
@@ -309,7 +309,7 @@
bool _terminated;
boost::thread* _action_thread; /*!< Thread running the action */
boost::function< void(const ActionStatus&, const Goal&, const Feedback&) > _callback; /*!< Callback function for sending updates */
- diagnostic_msgs::DiagnosticMessage _diagnostics_message;
+ diagnostic_msgs::DiagnosticArray _diagnostics_message;
std::vector<diagnostic_msgs::DiagnosticStatus> _diagnostics_statuses;
ros::NodeHandle *_node;
ros::Publisher _diagnostics_publisher;
Copied: pkg/trunk/stacks/common_msgs/diagnostic_msgs/msg/DiagnosticArray.msg (from rev 20798, pkg/trunk/stacks/common_msgs/diagnostic_msgs/msg/DiagnosticMessage.msg)
===================================================================
--- pkg/trunk/stacks/common_msgs/diagnostic_msgs/msg/DiagnosticArray.msg (rev 0)
+++ pkg/trunk/stacks/common_msgs/diagnostic_msgs/msg/DiagnosticArray.msg 2009-08-08 03:15:54 UTC (rev 21122)
@@ -0,0 +1,2 @@
+Header header #for timestamp
+DiagnosticStatus[] status # an array of components being reported on
\ No newline at end of file
Property changes on: pkg/trunk/stacks/common_msgs/diagnostic_msgs/msg/DiagnosticArray.msg
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/common/diagnostic_msgs/msg/DiagnosticMessage.msg:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Deleted: pkg/trunk/stacks/common_msgs/diagnostic_msgs/msg/DiagnosticMessage.msg
===================================================================
--- pkg/trunk/stacks/common_msgs/diagnostic_msgs/msg/DiagnosticMessage.msg 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/common_msgs/diagnostic_msgs/msg/DiagnosticMessage.msg 2009-08-08 03:15:54 UTC (rev 21122)
@@ -1,2 +0,0 @@
-Header header #for timestamp
-DiagnosticStatus[] status # an array of components being reported on
\ No newline at end of file
Modified: pkg/trunk/stacks/hardware_test/diagnostic_test/scripts/diagnostic_test.py
===================================================================
--- pkg/trunk/stacks/hardware_test/diagnostic_test/scripts/diagnostic_test.py 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/hardware_test/diagnostic_test/scripts/diagnostic_test.py 2009-08-08 03:15:54 UTC (rev 21122)
@@ -40,8 +40,9 @@
import sys, time
import rospy
-from diagnostic_msgs.msg import DiagnosticMessage, DiagnosticStatus, KeyValue, DiagnosticString
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue, DiagnosticString
+
NAME = 'diagnostic_test'
latest_messages = {}
@@ -98,7 +99,7 @@
test_impl, params = args
- msg = DiagnosticMessage()
+ msg = DiagnosticArray()
msg.status = [analyze(test_impl, params)]
publisher.publish(msg)
@@ -124,11 +125,11 @@
# get it's parameters
params = rospy.get_param("~")
- rospy.Subscriber("/diagnostics", DiagnosticMessage, callback, (test_impl, params))
+ rospy.Subscriber("/diagnostics", DiagnosticArray, callback, (test_impl, params))
# Publish results in diagnostics
global publisher
- publisher = rospy.Publisher('/diagnostics', DiagnosticMessage)
+ publisher = rospy.Publisher('/diagnostics', DiagnosticArray)
# Always executes at greater than the min frequency
while not rospy.is_shutdown():
Modified: pkg/trunk/stacks/hardware_test/diagnostic_test/test/expected_publisher.py
===================================================================
--- pkg/trunk/stacks/hardware_test/diagnostic_test/test/expected_publisher.py 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/hardware_test/diagnostic_test/test/expected_publisher.py 2009-08-08 03:15:54 UTC (rev 21122)
@@ -54,10 +54,10 @@
if __name__ == '__main__':
rospy.init_node('diagnostic_test_tester')
- pub = rospy.Publisher('/diagnostics', DiagnosticMessage)
+ pub = rospy.Publisher('/diagnostics', DiagnosticArray)
while not rospy.is_shutdown():
- msg = DiagnosticMessage()
+ msg = DiagnosticArray()
msg.status.append(make_status_msg('Expected 1'))
msg.status.append(make_status_msg('Expected 2'))
Modified: pkg/trunk/stacks/hardware_test/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.h
===================================================================
--- pkg/trunk/stacks/hardware_test/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.h 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/hardware_test/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.h 2009-08-08 03:15:54 UTC (rev 21122)
@@ -42,7 +42,7 @@
#include "ros/node_handle.h"
#include "ros/this_node.h"
-#include "diagnostic_msgs/DiagnosticMessage.h"
+#include "diagnostic_msgs/DiagnosticArray.h"
#include "diagnostic_updater/DiagnosticStatusWrapper.h"
/**
@@ -328,7 +328,7 @@
ros::NodeHandle newnh;
node_handle_ = newnh;
- publisher_ = node_handle_.advertise<diagnostic_msgs::DiagnosticMessage>("/diagnostics", 1);
+ publisher_ = node_handle_.advertise<diagnostic_msgs::DiagnosticArray>("/diagnostics", 1);
broadcast(2, "Node shut down");
}*/
@@ -367,14 +367,14 @@
iter->name =
ros::this_node::getName().substr(1) + std::string(": ") + iter->name;
}
- diagnostic_msgs::DiagnosticMessage msg;
+ diagnostic_msgs::DiagnosticArray msg;
msg.set_status_vec(status_vec);
publisher_.publish(msg);
}
void setup()
{
- publisher_ = node_handle_.advertise<diagnostic_msgs::DiagnosticMessage>("/diagnostics", 1);
+ publisher_ = node_handle_.advertise<diagnostic_msgs::DiagnosticArray>("/diagnostics", 1);
node_handle_.param("~diagnostic_period", period_, 1.0);
next_time_ = ros::Time::now();
Modified: pkg/trunk/stacks/hardware_test/runtime_monitor/scripts/log_runtime_messages
===================================================================
--- pkg/trunk/stacks/hardware_test/runtime_monitor/scripts/log_runtime_messages 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/hardware_test/runtime_monitor/scripts/log_runtime_messages 2009-08-08 03:15:54 UTC (rev 21122)
@@ -40,8 +40,10 @@
import sys
import rospy
-from diagnostic_msgs.msg import DiagnosticMessage, DiagnosticStatus, KeyValue, DiagnosticString
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue, DiagnosticString
+
+
NAME = 'runtime_monitor_logging'
try:
@@ -70,8 +72,7 @@
f.write("\n")
def listener():
-
- rospy.Subscriber("/diagnostics", DiagnosticMessage, callback)
+ rospy.Subscriber("/diagnostics", DiagnosticArray, callback)
rospy.init_node(NAME, anonymous=True)
rospy.spin()
Modified: pkg/trunk/stacks/hardware_test/runtime_monitor/scripts/monitor
===================================================================
--- pkg/trunk/stacks/hardware_test/runtime_monitor/scripts/monitor 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/hardware_test/runtime_monitor/scripts/monitor 2009-08-08 03:15:54 UTC (rev 21122)
@@ -39,8 +39,10 @@
import sys
import rospy
-from diagnostic_msgs.msg import DiagnosticMessage, DiagnosticStatus, KeyValue, DiagnosticString
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue, DiagnosticString
+
+
NAME = 'runtime_monitor'
def callback(message):
@@ -54,7 +56,7 @@
sys.stdout.flush()
def listener():
- rospy.Subscriber("/diagnostics", DiagnosticMessage, callback)
+ rospy.Subscriber("/diagnostics", DiagnosticArray, callback)
rospy.init_node(NAME, anonymous=True)
rospy.spin()
Modified: pkg/trunk/stacks/hardware_test/runtime_monitor/scripts/test_high_level
===================================================================
--- pkg/trunk/stacks/hardware_test/runtime_monitor/scripts/test_high_level 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/hardware_test/runtime_monitor/scripts/test_high_level 2009-08-08 03:15:54 UTC (rev 21122)
@@ -39,8 +39,9 @@
import sys
import rospy
-from diagnostic_msgs.msg import DiagnosticMessage, DiagnosticStatus, KeyValue, DiagnosticString
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue, DiagnosticString
+
NAME = 'runtime_monitor'
aggregate = {}
@@ -78,7 +79,7 @@
def listener():
- rospy.Subscriber("/diagnostics", DiagnosticMessage, callback)
+ rospy.Subscriber("/diagnostics", DiagnosticArray, callback)
rospy.init_node(NAME, anonymous=True)
rospy.spin()
Modified: pkg/trunk/stacks/hardware_test/runtime_monitor/src/runtime_monitor/monitor_panel.py
===================================================================
--- pkg/trunk/stacks/hardware_test/runtime_monitor/src/runtime_monitor/monitor_panel.py 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/hardware_test/runtime_monitor/src/runtime_monitor/monitor_panel.py 2009-08-08 03:15:54 UTC (rev 21122)
@@ -39,8 +39,10 @@
import sys
import rospy
-from diagnostic_msgs.msg import DiagnosticMessage, DiagnosticStatus, KeyValue, DiagnosticString
+
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue, DiagnosticString
+
import wx
from wx import xrc
from wx import html
@@ -95,7 +97,7 @@
self.Bind(wx.EVT_TIMER, self.on_timer)
self._timer.Start(5000)
- self._subscriber = rospy.Subscriber("/diagnostics", DiagnosticMessage, self.diagnostics_callback)
+ self._subscriber = rospy.Subscriber("/diagnostics", DiagnosticArray, self.diagnostics_callback)
self._messages = []
self._used_items = 0
@@ -109,7 +111,7 @@
return
self._subscriber.unregister()
- self._subscriber = rospy.Subscriber(str(topic), DiagnosticMessage, self.diagnostics_callback)
+ self._subscriber = rospy.Subscriber(str(topic), DiagnosticArray, self.diagnostics_callback)
self.reset_monitor()
Modified: pkg/trunk/stacks/hardware_test/runtime_monitor/testmonitor.py
===================================================================
--- pkg/trunk/stacks/hardware_test/runtime_monitor/testmonitor.py 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/hardware_test/runtime_monitor/testmonitor.py 2009-08-08 03:15:54 UTC (rev 21122)
@@ -39,8 +39,10 @@
import sys, time
import rospy
-from diagnostic_msgs.msg import DiagnosticMessage, DiagnosticStatus, KeyValue, DiagnosticString
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue, DiagnosticString
+
+
NAME = 'test_runtime_broadcaster'
@@ -73,7 +75,7 @@
- out = DiagnosticMessage(None, stat)
+ out = DiagnosticArray(None, stat)
pub.publish(out)
print "Published"
@@ -81,7 +83,7 @@
def listener():
- pub = rospy.Publisher("/diagnostics", DiagnosticMessage)
+ pub = rospy.Publisher("/diagnostics", DiagnosticArray)
rospy.init_node(NAME, anonymous=True)
while not rospy.is_shutdown():
loop(pub)
Modified: pkg/trunk/stacks/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h
===================================================================
--- pkg/trunk/stacks/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h 2009-08-08 03:15:54 UTC (rev 21122)
@@ -53,7 +53,7 @@
#include <mechanism_msgs/SwitchController.h>
#include <mechanism_msgs/MechanismState.h>
#include <mechanism_msgs/JointStates.h>
-#include <diagnostic_msgs/DiagnosticMessage.h>
+#include <diagnostic_msgs/DiagnosticArray.h>
typedef controller::ControllerHandle* (*ControllerAllocator)();
@@ -122,7 +122,7 @@
// for publishing constroller state/diagnostics
void publishDiagnostics();
void publishState();
- realtime_tools::RealtimePublisher<diagnostic_msgs::DiagnosticMessage> pub_diagnostics_;
+ realtime_tools::RealtimePublisher<diagnostic_msgs::DiagnosticArray> pub_diagnostics_;
realtime_tools::RealtimePublisher<mechanism_msgs::JointStates> pub_joints_;
realtime_tools::RealtimePublisher<mechanism_msgs::MechanismState> pub_mech_state_;
double publish_period_state_, last_published_state_;
Modified: pkg/trunk/stacks/mechanism/mechanism_control/scripts/joints_to_diagnostics.py
===================================================================
--- pkg/trunk/stacks/mechanism/mechanism_control/scripts/joints_to_diagnostics.py 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/mechanism/mechanism_control/scripts/joints_to_diagnostics.py 2009-08-08 03:15:54 UTC (rev 21122)
@@ -49,14 +49,14 @@
return d
rospy.init_node('joints_to_diagnostics')
-pub_diag = rospy.Publisher('/diagnostics', DiagnosticMessage)
+pub_diag = rospy.Publisher('/diagnostics', DiagnosticArray)
last_publish_time = rospy.Time(0.0)
def state_cb(j):
global last_publish_time
now = rospy.get_rostime()
if (now - last_publish_time).to_seconds() > 1.0:
- d = DiagnosticMessage()
+ d = DiagnosticArray()
d.header.stamp = j.header.stamp
d.status = [joint_to_diag(js) for js in j.joints]
pub_diag.publish(d)
Modified: pkg/trunk/stacks/pr2/pr2_etherCAT/src/main.cpp
===================================================================
--- pkg/trunk/stacks/pr2/pr2_etherCAT/src/main.cpp 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/pr2/pr2_etherCAT/src/main.cpp 2009-08-08 03:15:54 UTC (rev 21122)
@@ -97,7 +97,7 @@
accumulator_set<double, stats<tag::max, tag::mean> > mc_acc;
} g_stats;
-static void publishDiagnostics(realtime_tools::RealtimePublisher<diagnostic_msgs::DiagnosticMessage> &publisher)
+static void publishDiagnostics(realtime_tools::RealtimePublisher<diagnostic_msgs::DiagnosticArray> &publisher)
{
if (publisher.trylock())
{
@@ -163,7 +163,7 @@
void *controlLoop(void *)
{
ros::NodeHandle node;
- realtime_tools::RealtimePublisher<diagnostic_msgs::DiagnosticMessage> publisher(node, "/diagnostics", 2);
+ realtime_tools::RealtimePublisher<diagnostic_msgs::DiagnosticArray> publisher(node, "/diagnostics", 2);
// Initialize the hardware interface
EthercatHardware ec;
Modified: pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/include/ethercat_hardware/ethercat_device.h
===================================================================
--- pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/include/ethercat_hardware/ethercat_device.h 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/include/ethercat_hardware/ethercat_device.h 2009-08-08 03:15:54 UTC (rev 21122)
@@ -44,7 +44,7 @@
#include <hardware_interface/hardware_interface.h>
-#include <diagnostic_msgs/DiagnosticMessage.h>
+#include <diagnostic_msgs/DiagnosticArray.h>
#include <loki/Factory.h>
#include <loki/Sequence.h>
Modified: pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/include/ethercat_hardware/ethercat_hardware.h
===================================================================
--- pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/include/ethercat_hardware/ethercat_hardware.h 2009-08-08 03:14:30 UTC (rev 21121)
+++ pkg/trunk/stacks/pr2_ethercat_drivers/ethercat_hardware/include/ethercat_hardware/ethercat_hardware.h 2009-08-08 03:15:54 UTC (rev 21122)
@@ -100,7 +100,7 @@
bool halt_motors_;
unsigned int reset_state_;
- realtime_tools::RealtimePublisher<diagnostic_msgs::DiagnosticMessage> publisher_;
+ realtime_tools::RealtimePublisher<diagnostic_msgs::DiagnosticArray> publisher_;
struct {
accumulator_set<double, stats<tag::max, tag::mean> > acc_;
double max_roundtrip_;
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