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[Personalrobots-commit] SF.net SVN: personalrobots:[22076] pkg/trunk/stacks/pr2/pr2_alpha
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From: <wa...@us...> - 2009-08-18 00:42:03
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Revision: 22076
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22076&view=rev
Author: wattsk
Date: 2009-08-18 00:41:50 +0000 (Tue, 18 Aug 2009)
Log Message:
-----------
Added diagnostic_aggregator node to PR2's
Modified Paths:
--------------
pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml
pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
Added Paths:
-----------
pkg/trunk/stacks/pr2/pr2_alpha/pre_analyzers.yaml
pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml
Modified: pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml 2009-08-18 00:41:15 UTC (rev 22075)
+++ pkg/trunk/stacks/pr2/pr2_alpha/manifest.xml 2009-08-18 00:41:50 UTC (rev 22076)
@@ -31,9 +31,11 @@
<depend package="prosilica_cam" />
<depend package="teleop_pr2" />
<depend package="mechanism_bringup" />
-
<depend package="robot_mechanism_controllers" />
<depend package="pr2_mechanism_controllers" />
+ <depend package="generic_analyzer" />
+ <depend package="diagnostic_aggregator" />
+
<!-- For testing -->
<depend package="std_msgs"/>
</package>
Modified: pkg/trunk/stacks/pr2/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre.launch 2009-08-18 00:41:15 UTC (rev 22075)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre.launch 2009-08-18 00:41:50 UTC (rev 22076)
@@ -24,9 +24,6 @@
<!-- Battery Monitor -->
<node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="true"/>
-<!-- Battery Assertions -->
-<include file="$(find ocean_battery_driver)/expected_batteries.launch"/>
-
<!-- Base Laser -->
<node machine="two" pkg="hokuyo_node" type="hokuyo_node" name="base_hokuyo_node" args="scan:=base_scan">
<param name="port" type="string" value="/dev/ttyACM0" />
@@ -53,9 +50,6 @@
<param name="imu/autocalibrate" type="bool" value="true" />
<node machine="realtime" pkg="imu_node" type="imu_node" output="screen"/>
-<!-- Videre Stereo cam
- <include file="$(find pr2_alpha)/stereo.launch" />
--->
<!-- Sound
<node pkg="sound_play" type="soundplay_node.py" machine="three" />
-->
@@ -63,10 +57,9 @@
<!-- Runtime Diagnostics Logging -->
<node pkg="rosrecord" type="rosrecord" args="-f /hwlog/pre_runtime_automatic /diagnostics" />
-<!-- NTP monitoring script Warns to console if sync error
+<!-- NTP monitoring script Warns to console if sync error -->
<node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="pre2" machine="realtime"/>
<node pkg="pr2_computer_monitor" type="ntp_monitor.py" args="fw1 7000" machine="two"/>
--->
<!-- Disk usage monitoring script Warns to console if disk full -->
<node pkg="pr2_computer_monitor" type="hd_monitor.py" args="$(optenv HOME /home)" machine="realtime"/>
@@ -79,5 +72,13 @@
<!-- Joint states diagnostics logging -->
<node pkg="mechanism_control" type="joints_to_diagnostics.py" machine="realtime" />
+ <!-- Diagnostics aggregation -->
+ <node pkg="diagnostic_aggregator" type="aggregator_node"
+ name="diag_agg_pre" args="PRE" output="screen" >
+ <rosparam command="load"
+ file="$(find pr2_alpha)/pre_analyzers.yaml" />
+ </node>
+
+
</launch>
Added: pkg/trunk/stacks/pr2/pr2_alpha/pre_analyzers.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/pre_analyzers.yaml (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_alpha/pre_analyzers.yaml 2009-08-18 00:41:50 UTC (rev 22076)
@@ -0,0 +1,125 @@
+sensors:
+ type: GenericAnalyzer
+ prefix: Sensors
+ contains: [
+ 'hokuyo',
+ 'prosilica',
+ 'imu' ]
+computers:
+ type: GenericAnalyzer
+ prefix: Computers
+ contains: [
+ 'HD Temp',
+ 'CPU Usage',
+ 'CPU Temperature',
+ 'HD Usage',
+ 'NFS']
+motors:
+ type: GenericAnalyzer
+ prefix: Motors
+ startswith: [
+ 'EtherCAT Device']
+ expected: [
+ 'EtherCAT Master',
+ 'EtherCAT Device (bl_caster_l_wheel_motor_alpha2)',
+ 'EtherCAT Device (bl_caster_r_wheel_motor_alpha2)',
+ 'EtherCAT Device (bl_caster_rotation_motor_alpha2)',
+ 'EtherCAT Device (br_caster_l_wheel_motor_alpha2)',
+ 'EtherCAT Device (br_caster_r_wheel_motor_alpha2)',
+ 'EtherCAT Device (br_caster_rotation_motor_alpha2)',
+ 'EtherCAT Device (fl_caster_l_wheel_motor_alpha2)',
+ 'EtherCAT Device (fl_caster_r_wheel_motor_alpha2)',
+ 'EtherCAT Device (fl_caster_rotation_motor_alpha2)',
+ 'EtherCAT Device (fr_caster_l_wheel_motor_alpha2)',
+ 'EtherCAT Device (fr_caster_r_wheel_motor_alpha2)',
+ 'EtherCAT Device (fr_caster_rotation_motor_alpha2)',
+ 'EtherCAT Device (head_pan_motor)',
+ 'EtherCAT Device (head_tilt_motor)',
+ 'EtherCAT Device (laser_tilt_mount_motor)',
+ 'EtherCAT Device (torso_lift_motor)',
+ 'EtherCAT Device (r_gripper_motor)',
+ 'EtherCAT Device (r_wrist_l_motor)',
+ 'EtherCAT Device (r_wrist_r_motor)',
+ 'EtherCAT Device (r_forearm_roll_motor)',
+ 'EtherCAT Device (r_elbow_flex_motor)',
+ 'EtherCAT Device (r_upper_arm_roll_motor)',
+ 'EtherCAT Device (r_shoulder_lift_motor)',
+ 'EtherCAT Device (r_shoulder_pan_motor)',
+ 'EtherCAT Device (l_gripper_motor)',
+ 'EtherCAT Device (l_wrist_l_motor)',
+ 'EtherCAT Device (l_wrist_r_motor)',
+ 'EtherCAT Device (l_forearm_roll_motor)',
+ 'EtherCAT Device (l_elbow_flex_motor)',
+ 'EtherCAT Device (l_upper_arm_roll_motor)',
+ 'EtherCAT Device (l_shoulder_lift_motor)',
+ 'EtherCAT Device (l_shoulder_pan_motor)']
+joints:
+ type: GenericAnalyzer
+ prefix: Joints
+ startswith: [
+ 'Joint']
+ expected: [
+ 'Joint (bl_caster_l_wheel_joint)',
+ 'Joint (bl_caster_r_wheel_joint)',
+ 'Joint (bl_caster_rotation_joint)',
+ 'Joint (br_caster_l_wheel_joint)',
+ 'Joint (br_caster_r_wheel_joint)',
+ 'Joint (br_caster_rotation_joint)',
+ 'Joint (fl_caster_l_wheel_joint)',
+ 'Joint (fl_caster_r_wheel_joint)',
+ 'Joint (fl_caster_rotation_joint)',
+ 'Joint (fr_caster_l_wheel_joint)',
+ 'Joint (fr_caster_r_wheel_joint)',
+ 'Joint (fr_caster_rotation_joint)',
+ 'Joint (head_pan_joint)',
+ 'Joint (head_tilt_joint)',
+ 'Joint (laser_tilt_mount_joint)',
+ 'Joint (torso_lift_joint)',
+ 'Joint (r_gripper_joint)',
+ 'Joint (r_wrist_flex_joint)',
+ 'Joint (r_wrist_roll_joint)',
+ 'Joint (r_forearm_roll_joint)',
+ 'Joint (r_elbow_flex_joint)',
+ 'Joint (r_upper_arm_roll_joint)',
+ 'Joint (r_shoulder_lift_joint)',
+ 'Joint (r_shoulder_pan_joint)',
+ 'Joint (l_gripper_joint)',
+ 'Joint (l_wrist_flex_joint)',
+ 'Joint (l_wrist_roll_joint)',
+ 'Joint (l_forearm_roll_joint)',
+ 'Joint (l_elbow_flex_joint)',
+ 'Joint (l_upper_arm_roll_joint)',
+ 'Joint (l_shoulder_lift_joint)',
+ 'Joint (l_shoulder_pan_joint)']
+power:
+ type: GenericAnalyzer
+ prefix: 'Power System'
+ startswith: [
+ 'Power board']
+ name: [
+ 'Expected Batteries']
+ expected: [
+ 'IBPS 1',
+ 'IBPS 2',
+ 'IBPS 3',
+ 'IBPS 0',
+ 'Smart Battery 0.0',
+ 'Smart Battery 0.1',
+ 'Smart Battery 0.2',
+ 'Smart Battery 0.3',
+ 'Smart Battery 1.0',
+ 'Smart Battery 1.1',
+ 'Smart Battery 1.2',
+ 'Smart Battery 1.3',
+ 'Smart Battery 2.0',
+ 'Smart Battery 2.1',
+ 'Smart Battery 2.2',
+ 'Smart Battery 2.3',
+ 'Smart Battery 3.0',
+ 'Smart Battery 3.1',
+ 'Smart Battery 3.2',
+ 'Smart Battery 3.3']
+other:
+ prefix: Other
+ type: GenericAnalyzer
+ other: true
\ No newline at end of file
Modified: pkg/trunk/stacks/pr2/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf.launch 2009-08-18 00:41:15 UTC (rev 22075)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf.launch 2009-08-18 00:41:50 UTC (rev 22076)
@@ -18,8 +18,6 @@
<!-- Battery Monitor -->
<node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="true"/>
-<!-- Battery Assertions -->
- <include file="$(find ocean_battery_driver)/expected_batteries.launch"/>
<!-- Base Laser -->
<node machine="two" pkg="hokuyo_node" type="hokuyo_node" name="base_hokuyo_node" args="scan:=base_scan">
@@ -120,5 +118,12 @@
<param name="plug_orientation_w" value="0.01906" />
</group>
+ <!-- Diagnostics aggregation -->
+ <node pkg="diagnostic_aggregator" type="aggregator_node"
+ name="diag_agg_prf" args="PRF" output="screen" >
+ <rosparam command="load"
+ file="$(find pr2_alpha)/prf_prg_analyzers.yaml" />
+ </node>
+
</launch>
Added: pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prf_prg_analyzers.yaml 2009-08-18 00:41:50 UTC (rev 22076)
@@ -0,0 +1,109 @@
+sensors:
+ type: GenericAnalyzer
+ prefix: Sensors
+ contains: [
+ 'hokuyo',
+ 'prosilica',
+ 'imu' ]
+computers:
+ type: GenericAnalyzer
+ prefix: Computers
+ contains: [
+ 'HD Temp',
+ 'CPU Usage',
+ 'CPU Temperature',
+ 'HD Usage',
+ 'NFS']
+motors:
+ type: GenericAnalyzer
+ prefix: Motors
+ startswith: [
+ 'EtherCAT Device']
+ expected: [
+ 'EtherCAT Master',
+ 'EtherCAT Device (bl_caster_l_wheel_motor)',
+ 'EtherCAT Device (bl_caster_r_wheel_motor)',
+ 'EtherCAT Device (bl_caster_rotation_motor)',
+ 'EtherCAT Device (br_caster_l_wheel_motor)',
+ 'EtherCAT Device (br_caster_r_wheel_motor)',
+ 'EtherCAT Device (br_caster_rotation_motor)',
+ 'EtherCAT Device (fl_caster_l_wheel_motor)',
+ 'EtherCAT Device (fl_caster_r_wheel_motor)',
+ 'EtherCAT Device (fl_caster_rotation_motor)',
+ 'EtherCAT Device (fr_caster_l_wheel_motor)',
+ 'EtherCAT Device (fr_caster_r_wheel_motor)',
+ 'EtherCAT Device (fr_caster_rotation_motor)',
+ 'EtherCAT Device (head_pan_motor)',
+ 'EtherCAT Device (head_tilt_motor)',
+ 'EtherCAT Device (laser_tilt_mount_motor)',
+ 'EtherCAT Device (torso_lift_motor)',
+ 'EtherCAT Device (r_gripper_motor)',
+ 'EtherCAT Device (r_wrist_l_motor)',
+ 'EtherCAT Device (r_wrist_r_motor)',
+ 'EtherCAT Device (r_forearm_roll_motor)',
+ 'EtherCAT Device (r_elbow_flex_motor)',
+ 'EtherCAT Device (r_upper_arm_roll_motor)',
+ 'EtherCAT Device (r_shoulder_lift_motor)',
+ 'EtherCAT Device (r_shoulder_pan_motor)']
+joints:
+ type: GenericAnalyzer
+ prefix: Joints
+ startswith: [
+ 'Joint']
+ expected: [
+ 'Joint (bl_caster_l_wheel_joint)',
+ 'Joint (bl_caster_r_wheel_joint)',
+ 'Joint (bl_caster_rotation_joint)',
+ 'Joint (br_caster_l_wheel_joint)',
+ 'Joint (br_caster_r_wheel_joint)',
+ 'Joint (br_caster_rotation_joint)',
+ 'Joint (fl_caster_l_wheel_joint)',
+ 'Joint (fl_caster_r_wheel_joint)',
+ 'Joint (fl_caster_rotation_joint)',
+ 'Joint (fr_caster_l_wheel_joint)',
+ 'Joint (fr_caster_r_wheel_joint)',
+ 'Joint (fr_caster_rotation_joint)',
+ 'Joint (head_pan_joint)',
+ 'Joint (head_tilt_joint)',
+ 'Joint (laser_tilt_mount_joint)',
+ 'Joint (torso_lift_joint)',
+ 'Joint (r_gripper_joint)',
+ 'Joint (r_wrist_flex_joint)',
+ 'Joint (r_wrist_roll_joint)',
+ 'Joint (r_forearm_roll_joint)',
+ 'Joint (r_elbow_flex_joint)',
+ 'Joint (r_upper_arm_roll_joint)',
+ 'Joint (r_shoulder_lift_joint)',
+ 'Joint (r_shoulder_pan_joint)']
+power:
+ type: GenericAnalyzer
+ prefix: 'Power System'
+ startswith: [
+ 'Power board']
+ name: [
+ 'Expected Batteries']
+ expected: [
+ 'IBPS 1',
+ 'IBPS 2',
+ 'IBPS 3',
+ 'IBPS 0',
+ 'Smart Battery 0.0',
+ 'Smart Battery 0.1',
+ 'Smart Battery 0.2',
+ 'Smart Battery 0.3',
+ 'Smart Battery 1.0',
+ 'Smart Battery 1.1',
+ 'Smart Battery 1.2',
+ 'Smart Battery 1.3',
+ 'Smart Battery 2.0',
+ 'Smart Battery 2.1',
+ 'Smart Battery 2.2',
+ 'Smart Battery 2.3',
+ 'Smart Battery 3.0',
+ 'Smart Battery 3.1',
+ 'Smart Battery 3.2',
+ 'Smart Battery 3.3']
+other:
+ prefix: Other
+ type: GenericAnalyzer
+ other: true
\ No newline at end of file
Modified: pkg/trunk/stacks/pr2/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/stacks/pr2/pr2_alpha/prg.launch 2009-08-18 00:41:15 UTC (rev 22075)
+++ pkg/trunk/stacks/pr2/pr2_alpha/prg.launch 2009-08-18 00:41:50 UTC (rev 22076)
@@ -18,8 +18,6 @@
<!-- Battery Monitor -->
<node machine="two" pkg="ocean_battery_driver" type="monitor" respawn="false"/>
-<!-- Battery Assertions -->
-<include file="$(find ocean_battery_driver)/expected_batteries.launch"/>
<!-- Base Laser -->
<node machine="two" pkg="hokuyo_node" type="hokuyo_node" name="base_hokuyo_node" args="scan:=base_scan">
@@ -118,7 +116,14 @@
<param name="plug_orientation_z" value="0.00588" />
<param name="plug_orientation_w" value="0.01906" />
</group>
--->
+ -->
+ <!-- Diagnostics aggregation -->
+ <node pkg="diagnostic_aggregator" type="aggregator_node"
+ name="diag_agg_prg" args="PRG" output="screen" >
+ <rosparam command="load"
+ file="$(find pr2_alpha)/prf_prg_analyzers.yaml" />
+ </node>
+
</launch>
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