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selfcheck.py: simplify camera check

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This commit is contained in:
Oleg Kalachev
2019-05-20 16:02:47 +03:00
parent ec57f7d0a3
commit bba9f3db76
1 changed files with 6 additions and 2 deletions
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8
clever/src/selfcheck.py
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@@ -169,7 +169,6 @@ def check_fcu():
failure('no MAVROS state (check wiring)')
@check('Camera')
def check_camera(name):
try:
img = rospy.wait_for_message(name + '/image_raw', Image, timeout=1)
@@ -188,6 +187,11 @@ def check_camera(name):
failure('%s: calibration height doesn\'t match image height (%d != %d))', name, info.height, img.height)
@check('Main camera')
def check_main_camera():
check_camera('main_camera')
@check('ArUco detector')
def check_aruco():
try:
@@ -507,7 +511,7 @@ def selfcheck():
check_velocity()
check_global_position()
check_preflight_status()
check_camera('main_camera')
check_main_camera()
check_aruco()
check_simpleoffboard()
check_optical_flow()