CopterExpress/clover
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selfcheck.py: decrease some timeouts to speed up check

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This commit is contained in:
Oleg Kalachev
2022-10-31 02:14:02 +06:00
parent 99fad312c5
commit b165e154f5
1 changed files with 6 additions and 6 deletions
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12
clover/src/selfcheck.py
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@@ -362,7 +362,7 @@ def check_aruco():
known_tilt += ' (ALL markers are on the ceiling)'
info('aruco_detect/known_tilt = %s', known_tilt)
try:
markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=1)
markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=0.8)
except rospy.ROSException:
failure('no markers detection')
return
@@ -379,13 +379,13 @@ def check_aruco():
info('aruco_map/known_tilt = %s', known_tilt)
try:
visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=1)
visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=0.8)
info('map has %s markers', len(visualization.markers))
except:
failure('cannot read aruco_map/visualization topic')
try:
rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=1)
rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=0.8)
except rospy.ROSException:
if not markers:
info('no map detection as no markers detection')
@@ -409,10 +409,10 @@ def is_on_the_floor():
def check_vpe():
vis = None
try:
vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=0.8)
except rospy.ROSException:
try:
vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=1)
vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=0.8)
except rospy.ROSException:
if not is_process_running('vpe_publisher', full=True):
info('no vision position estimate, vpe_publisher is not running')
@@ -550,7 +550,7 @@ def check_velocity():
@check('Global position (GPS)')
def check_global_position():
try:
rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=1)
rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.8)
except rospy.ROSException:
info('no global position')
if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK') & (1 << 0)):