Re: [ros-users] Help with ROS Diagnostics

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 

> Best Regards,
>     Dominik Kirchner