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selfcheck.py: updates to aruco check

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This commit is contained in:
Oleg Kalachev
2019-03-10 03:04:38 +03:00
parent f2b37d8ea2
commit b2aa5241cd
1 changed files with 8 additions and 3 deletions
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11
clever/src/selfcheck.py
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@@ -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')