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selfcheck.py: don't fail when there is no vpe and vpe_publisher is not running

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This commit is contained in:
Oleg Kalachev
2022-10-30 19:48:42 +06:00
parent 1700ad24df
commit 69d5d1e521
1 changed files with 3 additions and 6 deletions
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9
clover/src/selfcheck.py
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@@ -413,17 +413,14 @@ def check_vpe():
try:
vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=1)
except rospy.ROSException:
if rospy.get_param('aruco_map/known_tilt') == 'map_flipped':
if not is_process_running('vpe_publisher', full=True):
info('no vision position estimate, vpe_publisher is not running')
elif rospy.get_param('aruco_map/known_tilt') == 'map_flipped':
failure('no vision position estimate, markers are on the ceiling')
elif is_on_the_floor():
info('no vision position estimate, the drone is on the floor')
else:
failure('no vision position estimate')
# check if vpe_publisher is running
try:
subprocess.check_output(['pgrep', '-x', 'vpe_publisher'])
except subprocess.CalledProcessError:
return # it's not running, skip following checks
# check PX4 settings
est = get_param('SYS_MC_EST_GROUP')