[jsk_pr2_startup] Add audible warning and sanity diagnostics

knorth55 · May 19, 2022 · 2461e5b · 2461e5b
1 parent e63409f
commit 2461e5b
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diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml
@@ -0,0 +1,4 @@
+topics:
+  - /kinect_head/rgb/image_raw
+  - /kinect_head/depth_registered/image_raw
+
diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
@@ -197,4 +197,25 @@
     <remap from="~input" to="/kinect_head/rgb/image_raw" />
   </node>
 
+  <node name="audible_warning"
+        pkg="jsk_tools" type="audible_warning.py"
+        clear_params="true"
+        output="screen" >
+    <rosparam command="load" file="$(find jsk_pr2_startup)/jsk_pr2_warning/warning_blacklist.yaml" />
+    <rosparam>
+      run_stop_topic: /power_board/state
+      run_stop_condition: "m.run_stop is False"
+      seconds_to_start_speaking: 60
+      speak_interval: 600
+    </rosparam>
+  </node>
+
+  <node name="sanity_diagnostics"
+        pkg="jsk_tools" type="sanity_diagnostics.py" >
+    <rosparam command="load" file="$(find jsk_pr2_startup)/jsk_pr2_warning/sanity_targets.yaml" />
+    <rosparam subst_value="true">
+      duration: 60
+    </rosparam>
+  </node>
+
 </launch>