[ros-users] Help with ROS Diagnostics
Mark Pitchless
markpitchless at gmail.com
Fri Jul 11 10:04:51 UTC 2014
You do indeed need to install ROS for the python code. See:
http://wiki.ros.org/ROS/Tutorials
1. for installation, 3 and 4 for creating a package to work in and then 12
for python nodes.
You may also find http://answers.ros.org/questions/ better for these types
of questions.
hth,
mark
On 10 July 2014 17:20, Felipe Roman <roman.felipe at 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 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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>>
>>
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>>
>
>
> --
> Best Regards,
> Felipe Roman
> Phone 55 51 8454 8110
> LinkedIn http://au.linkedin.com/in/feliperoman
>
> _______________________________________________
> ros-users mailing list
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>
>
--
"In the beginning, there was nothing, which exploded."
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