Hello,

here’s an example of Nagios plugin written in Python interacting with ROS framework.
 
#!/usr/bin/env python

import sys
sys.path.append("/home/schreiner/catkin_ws_hydro/install/lib/python2.7/dist-packages")
sys.path.append("/opt/ros/hydro/lib/python2.7/dist-packages")

import os
os.environ['PATH'] = "/opt/ros/hydro/bin:" + os.environ['PATH']
os.environ['ROS_PACKAGE_PATH']= '/home/schreiner/catkin_ws_hydro/install/share:/home/schreiner/catkin_ws_hydro/install/stacks:/opt/ros/hydro/share:/opt/ros/hydro/stacks'

from optparse import OptionParser

import rospy
import rosnode
import os
import roslib
import sys
roslib.load_manifest('linux_hardware')
from linux_hardware.msg import LaptopChargeStatus
from diagnostic_msgs.msg import DiagnosticStatus, DiagnosticArray, KeyValue

# Exit statuses recognized by Nagios
UNKNOWN = -1
OK = 0
WARNING = 1
CRITICAL = 2

# TEMPLATE FOR READING PARAMETERS FROM COMMANDLINE
parser = OptionParser()
parser.add_option("-H", "--host", dest="host", default='localhost', help="A message to print after OK - ")
parser.add_option("-w", "--warning", dest="warning", default='40', help="A message to print after OK - ")
parser.add_option("-c", "--critical", dest="critical", default='20', help="A message to print after OK - ")
(options, args) = parser.parse_args()

# Set turtlebot ROS Master URI
os.environ['ROS_MASTER_URI'] = 'http://' + options.host  + ':11311'

kobuki_charge = None
kobuki_percentage = None

def callback_kobuki(data):
    global kobuki_charge
    global kobuki_percentage

    ready = False

    while not ready:
        for current in data.status:
            if current.name == "mobile_base_nodelet_manager: Battery":
  	         for value in current.values:
	             if value.key == "Charge (Ah)":
		          kobuki_charge = value.value
	             if value.key == "Percent":
		          kobuki_percentage = value.value
                          ready = True

    time = rospy.get_time()
    kobuki_percentage = int(float(kobuki_percentage))
    rospy.signal_shutdown(0)

def listener():
    rospy.init_node('check_battery_kobuki', anonymous=True,  disable_signals=True)
    rospy.Subscriber("diagnostics", DiagnosticArray , callback_kobuki)
    rospy.spin()

def myhook():
    if kobuki_percentage < int(options.critical):
        print "CRITICAL - Kobuki Charge Percent %s | kobuki_battery=%s" % (kobuki_percentage,kobuki_percentage)
        exiting(CRITICAL)
    elif kobuki_percentage < int(options.warning):
        print "WARNING - Kobuki Charge Percent %s | kobuki_battery=%s" % (kobuki_percentage,kobuki_percentage)
        exiting(WARNING)
    else:
        print "OK - Kobuki Charge Percent %s | kobuki_battery=%s" % (kobuki_percentage,kobuki_percentage)
        exiting(OK)

def exiting(value):
    try:
	sys.stdout.flush()
	os._exit(value)
    except:
        pass

if __name__ == '__main__':
    try:
        master = rospy.get_master()
        master.getPid()
    except Exception:
        print "UNKNOWN - Roscore not available"
	exiting(UNKNOWN)

    try:
        if len(sys.argv) < 5:
            print "usage %s -c <critical> -w <warning>" % (sys.argv[0])
	    exiting(UNKNOWN)
        rospy.on_shutdown(myhook)
        listener()
    except rospy.ROSInterruptException:
        exit

-- 
Guillaume Schreiner
Research Engineer
Network Research Group	
ICube - UMR CNRS 7357
Strasbourg University 


Le 25 juin 2014 à 13:47, Dominik Kirchner <kirchner@vs.uni-kassel.de> a écrit :

> Hi,
> 
> the Nagios plugin needs to pubish its monitoring data on the /diagnostic topic. Msg type needs to be a DiagnosticArray with DiagnosticStatus items for each entity you have monitored. 
> 
> You will find good tutorials on how use the ROS diagnostic stack on http://wiki.ros.org/diagnostics/Tutorials.
> 
> Best Regards,
>     Dominik Kirchner
> 
> 
> On 24.06.2014 22:40, Felipe Roman wrote:
>> Hi Everyone,
>> 
>> Has anyone have used ROS diagnostics before ? I am working on a research work to integrate ROS with one IT monitoring tool (Nagios). Basically this IT monitoring tool will be able to get information about the Robot Sensor Status.
>> 
>> I already have implemented the communication between them (Nagios plugin reading ROS service information) and now I would like to know how to create and configure a ROS diagnostic topic to test it.
>> 
>> Any ideas will be welcome, thanks in advance
>> 
>> -- 
>> Best Regards,
>> Felipe Roman
>> Phone 55 51 8454 8110
>> LinkedIn http://au.linkedin.com/in/feliperoman
>> 
>> 
>> _______________________________________________
>> ros-users mailing list
>> ros-users@lists.ros.org
>> http://lists.ros.org/mailman/listinfo/ros-users
> 
> -- 
> --
> --  --  --  --  --  --  --  --  --  --  --  --  --  --  --  --  -- -- --
> --  Dominik Kirchner - kirchner@vs.uni-kassel.de  -  T. +49 561 804-6279
> --  Univ. Kassel - FB 16,   Wilhelmshöher Allee 73,   D-34121 Kassel
> --  http://www.uni-kassel.de/eecs/fachgebiete/vs/team/person/677-Dominik-Kirchner.html
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