On 10 July 2014 17:20, Felipe Roman <roman.felipe@gmail.com> wrote:

Guillaume,

Thank you very much. I already tested and this code was really useful. Actually I am thinking about give up my C++ implementation (much more complex) and start use python instead.

Do you know if do I need to have ROS installed on the same machine where I will run this plugin ? I am asking because I saw some libraries were included like:

import rospy
import rosnode
import os
import roslib
import sys

I don't know if ros* are Python libraries or I need to install ROS as well on the same machine.

And let me know if you have more examples for other Kobuki's sensors status or other robots as well.

Thanks in advance,
Roman
On Wed, Jun 25, 2014 at 10:06 AM, Guillaume Schreiner <schreiner@unistra.fr> wrote:
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
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--  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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_______________________________________________
ros-users mailing list
ros-users@lists.ros.org
http://lists.ros.org/mailman/listinfo/ros-users
--
Best Regards,
Felipe Roman
Phone 55 51 8454 8110
LinkedIn http://au.linkedin.com/in/feliperoman
_______________________________________________
ros-users mailing list
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http://lists.ros.org/mailman/listinfo/ros-users

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