Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[jsk_pr2_startup] Add audible warning and sanity diagnostics #231

Merged
merged 1 commit into from
May 19, 2022
Merged

[jsk_pr2_startup] Add audible warning and sanity diagnostics #231

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
topics:
- /kinect_head/rgb/image_raw
- /kinect_head/depth_registered/image_raw

21 changes: 21 additions & 0 deletions jsk_pr2_robot/jsk_pr2_startup/pr2.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -197,4 +197,25 @@
<remap from="~input" to="/kinect_head/rgb/image_raw" />
</node>

<node name="audible_warning"
pkg="jsk_tools" type="audible_warning.py"
clear_params="true"
output="screen" >
<rosparam command="load" file="$(find jsk_pr2_startup)/jsk_pr2_warning/warning_blacklist.yaml" />
knorth55 marked this conversation as resolved.
Show resolved Hide resolved
<rosparam>
run_stop_topic: /power_board/state
run_stop_condition: "m.run_stop is False"
seconds_to_start_speaking: 60
speak_interval: 600
</rosparam>
</node>

<node name="sanity_diagnostics"
pkg="jsk_tools" type="sanity_diagnostics.py" >
<rosparam command="load" file="$(find jsk_pr2_startup)/jsk_pr2_warning/sanity_targets.yaml" />
<rosparam subst_value="true">
duration: 60
</rosparam>
</node>

</launch>