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Tweaked diagnostics.py so that rqt_robot_monitor does not complain about missing joint frequencies

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This commit is contained in:
Patrick Goebel 2016-09-13 07:46:23 -07:00
parent be4bb3e219
commit f5b825c8ee
1 changed files with 7 additions and 5 deletions
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12
ros_arduino_python/src/ros_arduino_python/diagnostics.py
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@ -69,12 +69,14 @@ class DiagnosticsUpdater():
self.diag_updater.setHardwareID(self.name + '_pin_' + str(self.component.pin))
except:
self.diag_updater.setHardwareID(self.name)
# Create a frequency monitor that tracks the publishing frequency for this component
if self.component.rate > 0:
freq_bounds = diagnostic_updater.FrequencyStatusParam({'min': self.component.rate, 'max': self.component.rate}, 0.3, 5)
self.freq_diag = diagnostic_updater.HeaderlessTopicDiagnostic(self.component.name + '_freq', self.diag_updater, freq_bounds)
# Create a frequency monitor that tracks the publishing frequency for this component
# TODO: Need to add frequency check for servo controller (joint_update_rate)
if self.component.rate > 0:
if "Servo" not in str(self.component):
freq_bounds = diagnostic_updater.FrequencyStatusParam({'min': self.component.rate, 'max': self.component.rate}, 0.3, 5)
self.freq_diag = diagnostic_updater.HeaderlessTopicDiagnostic(self.component.name + '_freq', self.diag_updater, freq_bounds)
# Create an error monitor that tracks timeouts, serial exceptions etc
self.error_diag = diagnostic_updater.FunctionDiagnosticTask(self.name, self.get_error_rate)
self.diag_updater.add(self.error_diag)