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selfcheck.py: don't fail when marker's map not detected

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This commit is contained in:
Oleg Kalachev
2022-10-30 19:21:10 +06:00
parent 7f31fdd320
commit 6361984794
1 changed files with 9 additions and 2 deletions
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11
clover/src/selfcheck.py
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@@ -347,6 +347,8 @@ def is_process_running(binary, exact=False, full=False):
@check('ArUco markers')
def check_aruco():
markers = None
if is_process_running('aruco_detect', full=True):
try:
info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length'))
@@ -359,7 +361,7 @@ def check_aruco():
known_tilt += ' (ALL markers are on the ceiling)'
info('aruco_detect/known_tilt = %s', known_tilt)
try:
rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=1)
markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=1)
except rospy.ROSException:
failure('no markers detection')
return
@@ -384,7 +386,12 @@ def check_aruco():
try:
rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=1)
except rospy.ROSException:
failure('no map detection')
if not markers:
info('no map detection as no markers detection')
elif not markers.markers:
info('no map detection as no markers detected')
else:
failure('no map detection')
else:
info('aruco_map is not running')