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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of the Willow Garage nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
##\author Kevin Watts
##\brief Publishes messages for aggregator testing of expected items.
PKG = 'diagnostic_aggregator'
import roslib; roslib.load_manifest(PKG)
import rospy
from time import sleep
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
if __name__ == '__main__':
rospy.init_node('diag_pub')
pub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=10)
start_time = rospy.get_time()
while not rospy.is_shutdown():
array = DiagnosticArray()
array.status = [
# GenericAnalyzer my_path
DiagnosticStatus(0, 'expected1', 'OK', '', []),
DiagnosticStatus(1, 'expected2', 'OK', '', []),
DiagnosticStatus(2, 'expected3', 'OK', '', []),
DiagnosticStatus(0, 'startswith1', 'OK', '', []),
DiagnosticStatus(0, 'startswith2', 'OK', '', []),
DiagnosticStatus(1, 'startswith3', 'OK', '', []),
# OtherAnalyzer for Other
DiagnosticStatus(2, 'other2', 'OK', '', []),
DiagnosticStatus(0, 'other3', 'OK', '', [])]
array.header.stamp = rospy.get_rostime()
if rospy.get_time() - start_time < 5:
# Shouldn't disappear
array.status.append(DiagnosticStatus(0, 'expected4', 'I will be stale', '', []))
array.status.append(DiagnosticStatus(0, 'expected5', 'I will be stale', '', []))
# Should disappear
array.status.append(DiagnosticStatus(2, 'other1', 'Error', '', []))
pub.publish(array)
sleep(1)
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