From bba9f3db76fa03be7b07adf35d704f5e5a1c46bf Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Mon, 20 May 2019 16:02:47 +0300
Subject: [PATCH] selfcheck.py: simplify camera check

---
 clever/src/selfcheck.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/clever/src/selfcheck.py b/clever/src/selfcheck.py
index 7df1f8c9..c7f65f2a 100755
--- a/clever/src/selfcheck.py
+++ b/clever/src/selfcheck.py
@@ -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()