Self Check Improvements
duggerdufl opened this issue · comments
- Add an indication of which thrusters are not detected.
- Check lsusb to detect if the cameras are plugged in vs the cameras launch not running.
- Detect peripheral devices like the actuator box and the passive sonar (if they respond to a RS485 ping).
- Check fps for all camera topics
- Checking for degenerate thruster configurations
I would like to have a tool to automatically spin each thruster in sequence to confirm that they are indexed correctly and spinning in the right direction.
I'm currently looking at @jpanikulam's attempts at something like this.
That's a good idea. Would save time when we have problems or have to change out a thruster.
It would be fairly straight forward to write an RQT plugin for this.
What's the advantage of a RQT plugin over just a text based tool?
I didn't realize this was just a request to the existing system, sorry. It should be pretty simple to set ROS parameters for the path to each device in /dev and check if the file exists from Python.
@DSsoto suggested creating alarms so that we are notified of any changes.
I addressed the 2 first points @duggerd made and also created the thruster_spin_test utility, Some of these diagnostic tests should be reported to the alarm server though, I will put that on the back burner.
BTW, should we make the self_check run automatically when we launch the sub? Thoughts?
As long as the sub is still in a totally inert and killed state for the test, this is fine. I don't want Ken getting any thruster surprises if someone forgets that this is a default launch behavior.