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selfcheck.py: check camera info dimensions

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This commit is contained in:
Oleg Kalachev
2018-09-22 01:46:31 +03:00
parent c73921af4f
commit 751412e639
1 changed files with 8 additions and 3 deletions
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11
clever/src/selfcheck.py
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@@ -63,16 +63,21 @@ def check_fcu():
@check('Camera')
def check_camera(name):
try:
rospy.wait_for_message(name + '/image_raw', Image, timeout=1)
img = rospy.wait_for_message(name + '/image_raw', Image, timeout=1)
except rospy.ROSException:
failure('%s: No images', name)
failure('%s: No images (is the camera connected properly?)', name)
return
try:
rospy.wait_for_message(name + '/camera_info', CameraInfo, timeout=3)
info = rospy.wait_for_message(name + '/camera_info', CameraInfo, timeout=1)
except rospy.ROSException:
failure('%s: No calibration info', name)
return
if img.width != info.width:
failure('%s: Calibration width doesn\'t match image width (%d != %d)', name, info.width, img.width)
if img.height != info.height:
failure('%s: Calibration height doesn\'t match image height (%d != %d))', name, info.height, img.height)
@check('Aruco detector')
def check_aruco():