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selfcheck.py: fix known_vertical description

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This commit is contained in:
Oleg Kalachev
2022-11-11 06:22:54 +06:00
parent 25c3f25642
commit 8ac757598d
1 changed files with 10 additions and 8 deletions
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18
clover/src/selfcheck.py
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@@ -402,13 +402,14 @@ def check_aruco():
except KeyError:
failure('aruco_detect/length parameter is not set')
known_vertical = rospy.get_param('aruco_detect/known_vertical', '')
flip_vertical = str(rospy.get_param('aruco_detect/flip_vertical', False))
flip_vertical = rospy.get_param('aruco_detect/flip_vertical', False)
description = ''
if known_vertical == 'map' and not flip_vertical:
flip_vertical += ' (all markers are on the floor)'
description = ' (all markers are on the floor)'
elif known_vertical == 'map' and flip_vertical:
flip_vertical += ' (all markers are on the ceiling)'
description = ' (all markers are on the ceiling)'
info('aruco_detect/known_vertical = %s', known_vertical)
info('aruco_detect/flip_vertical = %s', flip_vertical)
info('aruco_detect/flip_vertical = %s%s', flip_vertical, description)
try:
markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=0.8)
except rospy.ROSException:
@@ -420,13 +421,14 @@ def check_aruco():
if is_process_running('aruco_map', full=True):
known_vertical = rospy.get_param('aruco_map/known_vertical', '')
flip_vertical = str(rospy.get_param('aruco_map/flip_vertical', False))
flip_vertical = rospy.get_param('aruco_map/flip_vertical', False)
description = ''
if known_vertical == 'map' and not flip_vertical:
flip_vertical += ' (markers map is on the floor)'
description += ' (markers map is on the floor)'
elif known_vertical == 'map' and flip_vertical:
flip_vertical += ' (markers map is on the ceiling)'
description += ' (markers map is on the ceiling)'
info('aruco_map/known_vertical = %s', known_vertical)
info('aruco_map/flip_vertical = %s', flip_vertical)
info('aruco_map/flip_vertical = %s%s', flip_vertical, description)
try:
visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=0.8)