From b2aa5241cd8c2a44ea40ec84767eba917efde10d Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 10 Mar 2019 03:04:38 +0300 Subject: [PATCH] selfcheck.py: updates to aruco check --- clever/src/selfcheck.py | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/clever/src/selfcheck.py b/clever/src/selfcheck.py index 694ca6a4..f6122848 100755 --- a/clever/src/selfcheck.py +++ b/clever/src/selfcheck.py @@ -80,12 +80,17 @@ def check_camera(name): failure('%s: calibration height doesn\'t match image height (%d != %d))', name, info.height, img.height) -@check('Aruco detector') +@check('ArUco detector') def check_aruco(): try: - rospy.wait_for_message('aruco_pose/debug', Image, timeout=1) + rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=1) except rospy.ROSException: - failure('no aruco_pose/debug messages') + failure('no markers detection') + return + try: + rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=1) + except rospy.ROSException: + failure('no map detection') @check('Vision position estimate')