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[jsk_pr2_startup] Add check_base_scan_node.py
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Kanazawanaoaki committed Aug 21, 2024
1 parent 763c873 commit 50d8c83
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Showing 6 changed files with 147 additions and 15 deletions.
12 changes: 12 additions & 0 deletions jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/base_hokuyo.launch
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<launch>
<include file="$(find pr2_machine)/pr2.machine" />
<!-- Base Laser -->
<node machine="c2" pkg="hokuyo_node" type="hokuyo_node" name="base_hokuyo_node" args="scan:=base_scan">
<param name="port" type="string" value="/etc/ros/sensors/base_hokuyo" />
<param name="frame_id" type="string" value="base_laser_link" />
<param name="min_ang" type="double" value="-2.2689" />
<param name="max_ang" type="double" value="2.2689" />
<param name="skip" type="int" value="1" />
<param name="intensity" value="false" />
</node>
</launch>
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#!/usr/bin/env python
# -*- coding: utf-8 -*-

import sys,subprocess,traceback
import rospy
import time
import os
from sensor_msgs.msg import Image, CompressedImage, LaserScan
from sound_play.msg import SoundRequest, SoundRequestAction, SoundRequestGoal
import actionlib
import roslib

class HokuyoScanChecker:
def __init__(self):
rospy.init_node('hokuyo_scan_checker_node', anonymous=True)
self.no_topic_flag = False ## True if topic is currently not coming in.
self.once_topic_flag = False ## True if the topic has been received at least once since the start of node execution.

self.launch_process = None
self.hokuyo_name = rospy.get_param('~hokuyo_name', 'base')

# Create an Action client for the sound_play node
self.sound_client = actionlib.SimpleActionClient('/robotsound', SoundRequestAction)
self.sound_client.wait_for_server()

# Threshold (in seconds) when a topic is not updated for a certain period of time
self.timeout_threshold = 10.0

# Time the topic was last updated
self.last_image_time = time.time()

self.say_something("{} scan check start".format(self.hokuyo_name))

# Subscribing topic
self.topic_sub = rospy.Subscriber('/{}_scan'.format(self.hokuyo_name), LaserScan, self.topic_callback)

def topic_callback(self, msg):
# Callback to be called when topic is updated
self.last_image_time = time.time()
if self.no_topic_flag or self.once_topic_flag==False:
self.no_topic_flag = False
self.once_topic_flag = True
self.say_something("{} scan topic is arrive.".format(self.hokuyo_name))

def check_timeout(self):
# Check if the topic has not been updated for a certain period of time
if time.time() - self.last_image_time > self.timeout_threshold:
if self.no_topic_flag:
return
else:
self.no_topic_flag = True
self.say_something("I haven't seen the {} scan topic for {} seconds.".format(self.hokuyo_name, self.timeout_threshold))
self.restart_hokuyo()

def say_something(self, text):
# Let the robot talk
rospy.loginfo(text)

# Create a SoundRequestGoal message
sound_goal = SoundRequestGoal()
sound_goal.sound_request.sound = SoundRequest.SAY
sound_goal.sound_request.command = SoundRequest.PLAY_ONCE
sound_goal.sound_request.volume = 1.0
sound_goal.sound_request.arg = text

# Send the SoundRequestGoal to the sound_play node
self.sound_client.send_goal(sound_goal)

# Wait for the result (you can add timeout if needed)
self.sound_client.wait_for_result()

def restart_hokuyo(self):
rospy.logerr("Restarting {} hokuyo".format(self.hokuyo_name))
retcode = -1
if self.launch_process: ## Force termination if launch process exists
self.launch_process.terminate()
self.launch_process.wait()
try:
# 1. kill hokuyo node
retcode = subprocess.call('rosnode kill /{}_hokuyo_node'.format(self.hokuyo_name), shell=True)
retcode = subprocess.call('pkill -f {}_hokuyo_node'.format(self.hokuyo_name), shell=True)
rospy.loginfo("Killed {} hokuyo node".format(self.hokuyo_name))
time.sleep(10)

# 2. reset hokuyo
package_path = roslib.packages.get_pkg_dir('jsk_pr2_startup')
script_path = os.path.join(package_path, 'jsk_pr2_sensors/hokuyo_reset_scripts')
retcode = subprocess.call('{}/upgrade /etc/ros/sensors/{}_hokuyo {}/reset.cmd'.format(script_path, self.hokuyo_name, script_path), shell=True)
self.say_something("Reset {} hokuyo".format(self.hokuyo_name))
time.sleep(10)

# 3 Restarting hokuyo node
os.environ['ROS_ENV_LOADER'] = '/home/applications/ros/noetic/devel/env.sh'
self.launch_process = subprocess.Popen(['roslaunch', 'jsk_pr2_startup', '{}_hokuyo.launch'.format(self.hokuyo_name)], env=os.environ)
rospy.loginfo("Restart {} hokuyo node".format(self.hokuyo_name))
time.sleep(30)
rospy.loginfo("Restarting {} hokuyo node is Done".format(self.hokuyo_name))

except Exception as e:
rospy.logerr('[%s] Unable to kill %s hokuyo node, caught exception:\n%s', self.__class__.__name__, self.hokuyo_name, traceback.format_exc())

def run(self):
rate = rospy.Rate(1) # Router plate: 1 Hz
while not rospy.is_shutdown():
self.check_timeout()
rate.sleep()

if __name__ == '__main__':
try:
topic_checker = HokuyoScanChecker()
topic_checker.run()
except rospy.ROSInterruptException:
pass
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*** 1 O 4
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*** 2 O 5
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*** 3 E 0
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12 changes: 12 additions & 0 deletions jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/tilt_hokuyo.launch
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<launch>
<include file="$(find pr2_machine)/pr2.machine" />
<!-- Tilt Laser -->
<node machine="c2" pkg="hokuyo_node" type="hokuyo_node" name="tilt_hokuyo_node" args="scan:=tilt_scan">
<param name="port" type="string" value="/etc/ros/sensors/tilt_hokuyo" />
<param name="frame_id" type="string" value="laser_tilt_link" />
<param name="min_ang" type="double" value="-0.829" />
<param name="max_ang" type="double" value="0.829" />
<param name="skip" type="int" value="1" />
<param name="intensity" value="true" />
</node>
</launch>
20 changes: 5 additions & 15 deletions jsk_pr2_robot/jsk_pr2_startup/pr2_bringup.launch
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</node>

<!-- Base Laser -->
<node machine="c2" pkg="hokuyo_node" type="hokuyo_node" name="base_hokuyo_node" args="scan:=base_scan">
<param name="port" type="string" value="/etc/ros/sensors/base_hokuyo" />
<param name="frame_id" type="string" value="base_laser_link" />
<param name="min_ang" type="double" value="-2.2689" />
<param name="max_ang" type="double" value="2.2689" />
<param name="skip" type="int" value="1" />
<param name="intensity" value="false" />
<include file="$(find jsk_pr2_startup)/jsk_pr2_sensors/base_hokuyo.launch" />
<node machine="c2" name="base_hokuyo_scan_checker"
pkg="jsk_pr2_startup" type="check_hokuyo_scan_node.py" output="log">
<param name="hokuyo_name" value="base" />
</node>

<!-- Tilt Laser -->
<node machine="c2" pkg="hokuyo_node" type="hokuyo_node" name="tilt_hokuyo_node" args="scan:=tilt_scan">
<param name="port" type="string" value="/etc/ros/sensors/tilt_hokuyo" />
<param name="frame_id" type="string" value="laser_tilt_link" />
<param name="min_ang" type="double" value="-0.829" />
<param name="max_ang" type="double" value="0.829" />
<param name="skip" type="int" value="1" />
<param name="intensity" value="true" />
</node>
<include file="$(find jsk_pr2_startup)/jsk_pr2_sensors/tilt_hokuyo.launch" />

<!-- imu -->
<node machine="c1" pkg="microstrain_3dmgx2_imu" type="imu_node" name="imu_node" output="screen">
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