Check if the ROS topics using the fetch device are published.

[708yamaguchi]

cherry-pick knorth55#104

I add roslaunch file to check if the ROS topics using the fetch device are published.

Usage:

$ roslaunch jsk_fetch_startup fetch_test_topics.launch
... logging to /home/leus/.ros/log/96e394e0-b973-11eb-98f0-69bcbf5551e9/roslaunch-b4apc-28170.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://133.11.216.169:41583/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /test_device_topics/timeout_0: 10
 * /test_device_topics/timeout_1: 10
 * /test_device_topics/timeout_2: 10
 * /test_device_topics/timeout_3: 10
 * /test_device_topics/timeout_4: 10
 * /test_device_topics/timeout_5: 10
 * /test_device_topics/timeout_6: 10
 * /test_device_topics/timeout_7: 10
 * /test_device_topics/timeout_8: 10
 * /test_device_topics/timeout_9: 10
 * /test_device_topics/topic_0: /audio
 * /test_device_topics/topic_1: /base_scan
 * /test_device_topics/topic_2: /battery_state
 * /test_device_topics/topic_3: /edgetpu_human_po...
 * /test_device_topics/topic_4: /edgetpu_object_d...
 * /test_device_topics/topic_5: /gripper/imu
 * /test_device_topics/topic_6: /head_camera/dept...
 * /test_device_topics/topic_7: /imu
 * /test_device_topics/topic_8: /insta360/image_raw
 * /test_device_topics/topic_9: /tf

NODES
  /
    test_device_topics (jsk_tools/test_topic_published.py)

ROS_MASTER_URI=http://fetch1075:11311

process[test_device_topics-1]: started with pid [28179]
[ROSUNIT] Outputting test results to /home/leus/.ros/test_results/jsk_tools/rosunit-test_topic_published.xml
[Testcase: test_published] ... ok
-------------------------------------------------------------
SUMMARY:
 * RESULT: SUCCESS
 * TESTS: 1
 * ERRORS: 0 []
 * FAILURES: 0 []

[test_device_topics-1] process has finished cleanly
log file: /home/leus/.ros/log/96e394e0-b973-11eb-98f0-69bcbf5551e9/test_device_topics-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

[k-okada]

another solution is to use jsk_tool.sanity_lib,
I remember someone add this node within bringup.launch with "ruquired" option, so if the node fails, but could not find them.....

https://github.com/start-jsk/jsk_apc/blob/16c004c511e864478aa6581a04c5a023e5fde391/jsk_arc2017_baxter/node_scripts/sanity_check_for_pick.py
https://github.com/start-jsk/rtmros_hrp2/blob/6e868b84e3c0eee466af79001649cee11e0175d8/jsk_hrp2_ros_bridge/scripts/check_hrp2_sanity.py

[pazeshun]

I remember someone add this node within bringup.launch with "ruquired" option, so if the node fails, but could not find them.....

Do you mean
https://github.com/start-jsk/jsk_apc/blob/4.3.0/jsk_arc2017_baxter/launch/main/pick.launch#L23-L24
?