[ros-users] Help with ROS Diagnostics
Felipe Roman
roman.felipe at gmail.com
Thu Jul 10 16:20:52 UTC 2014
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 at 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 at 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 listros-users at lists.ros.orghttp://lists.ros.org/mailman/listinfo/ros-users
>
>
> --
> --
> -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
> -- Dominik Kirchner - kirchner at 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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--
Best Regards,
Felipe Roman
Phone 55 51 8454 8110
LinkedIn http://au.linkedin.com/in/feliperoman
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