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Minor improvements to selfcheck

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This commit is contained in:
Oleg Kalachev
2018-09-22 01:24:25 +03:00
parent aad6940ca7
commit ab9106f902
1 changed files with 11 additions and 7 deletions
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18
clever/src/selfcheck.py
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@@ -12,10 +12,12 @@ from geometry_msgs.msg import PoseStamped, TwistStamped
# TODO: roscore is running
# TODO: clever.service is running
# TODO: check attitude is present
# TODO: disk free space
# TODO: local_origin, fcu, fcu_horiz
# TODO: rc service
# TODO: perform commander check in PX4
# TODO: perform commander check, ekf2 status on PX4
# TODO: check if FCU params setter succeed
# TODO: selfcheck ROS service (with blacklists for checks)
@@ -53,9 +55,9 @@ def check_fcu():
try:
state = rospy.wait_for_message('mavros/state', State, timeout=3)
if not state.connected:
failure('No connection to the FCU')
failure('No connection to the FCU (check wiring)')
except rospy.ROSException:
failure('No MAVROS state')
failure('No MAVROS state (check wiring)')
@check('Camera')
@@ -63,11 +65,13 @@ def check_camera(name):
try:
rospy.wait_for_message(name + '/image_raw', Image, timeout=1)
except rospy.ROSException:
failure('No %s camera images' % name)
failure('%s: No images', name)
return
try:
rospy.wait_for_message(name + '/camera_info', CameraInfo, timeout=3)
except rospy.ROSException:
failure('No %s camera camera info' % name)
failure('%s: No calibration info', name)
return
@check('Aruco detector')
@@ -93,7 +97,7 @@ def check_imu():
try:
rospy.wait_for_message('mavros/imu/data', Imu, timeout=1)
except rospy.ROSException:
failure('No IMU data')
failure('No IMU data (check flight controller calibration)')
@check('Local position')
@@ -134,7 +138,7 @@ def check_boot_duration():
r = re.compile(r'([\d\.]+)s$')
duration = float(r.search(output).groups()[0])
if duration > 15:
failure('long Raspbian boot duration: %ss', duration)
failure('long Raspbian boot duration: %ss (systemd-analyze for analyzing)', duration)
@check('CPU usage')