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An automated preflight checklist for the Asctec Pelican running ROS

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preflight

A framework for creating automated preflight checklists for robots running ROS.

Example preflight checklist:

from preflight import *
check('Camera Publisher', lambda: getPublisher('/camera/image_raw'),       lambda x: x[0].find('myrobot') > 0)
check('Sonar Publisher',  lambda: getPublisher('/sonar_range'),            lambda x: x[0].find('myrobot') > 0)
check('IMU Publisher',    lambda: getPublisher('/imu'),                    lambda x: x[0].find('myrobot') > 0)
check('Quatrotor Status', lambda: getValue("/robotstatus/status"),         lambda x: x == '1')
check('Battery Level',    lambda: float(getValue("/robotstatus/battery")), lambda x: x > 11.0) 
check('Frame Rate Param', lambda: float(getParam('/camera/frame_rate')),   lambda x: x == frame_rate)

Example output:

Checking Camera Publisher...  OK   ([http://myrobot:59209/])
Checking Sonar Publisher...   OK   ([http://myrobot:59210/])
Checking IMU Publisher...     OK   ([http://myrobot:59211/])
Checking Robot Status...      OK   (1)
Checking Battery Level...     FAIL (10.8)
Checking Frame Rate Param...  OK   (60.0)

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An automated preflight checklist for the Asctec Pelican running ROS

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