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
------------------------------------------------------------------------

_______________________________________________
ros-users mailing list
ros-users@lists.ros.org
http://lists.ros.org/mailman/listinfo/ros-users

_______________________________________________
ros-users mailing list
ros-users@lists.ros.org
http://lists.ros.org/mailman/listinfo/ros-users