[jsk_pcl_ros_utils] ensure super class functionality works

[furushchev]

Some nodelet forgot to enable super class functionality:

• Forgot to call vital_checker_->poke()

Without calling this method on callback, runtime_monitor displays error state on the nodelet and it is very confusing on debugging.

• Forgot to call onInitPostProcess()

Without calling this method on onInit() method, nodelet does not subscribe on start even if param always_subscribe is set to true.

[k-okada]

can we call this method at https://github.com/jsk-ros-pkg/jsk_common/blob/2.2.3/jsk_topic_tools/src/diagnostic_nodelet.cpp#L63

…

-- ◉ Kei Okada 2017-03-27 23:44 GMT+09:00 Furushchev <notifications@github.com>:

Some nodelet forgot to enable super class functionality: - Forgot to call vital_checker_->poke() Without calling this method on callback, runtime_monitor displays error state on the nodelet and it is very confusing on debugging. - Forgot to call onInitPostProcess() Without calling this method on onInit() method, nodelet does not subscribe on start even if param always_subscribe is set to true. ------------------------------ You can view, comment on, or merge this pull request online at: #2043 Commit Summary - [jsk_pcl_ros_utils] ensure poke on callback in DiagnosticNodelet - [jsk_pcl_ros_utils] ensure call onInitPostProcess() on DiagnosticNodelet File Changes - *M* jsk_pcl_ros_utils/src/add_point_indices_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-0> (2) - *M* jsk_pcl_ros_utils/src/centroid_publisher_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-1> (3) - *M* jsk_pcl_ros_utils/src/cloud_on_plane_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-2> (3) - *M* jsk_pcl_ros_utils/src/cluster_point_indices_to_point_ indices_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-3> (1) - *M* jsk_pcl_ros_utils/src/colorize_height_2d_mapping_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-4> (1) - *M* jsk_pcl_ros_utils/src/label_to_cluster_point_indices_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-5> (1) - *M* jsk_pcl_ros_utils/src/mask_image_to_depth_considered_ mask_image_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-6> (2) - *M* jsk_pcl_ros_utils/src/mask_image_to_point_indices_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-7> (2) - *M* jsk_pcl_ros_utils/src/normal_flip_to_frame_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-8> (1) - *M* jsk_pcl_ros_utils/src/pcd_reader_with_pose_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-9> (6) - *M* jsk_pcl_ros_utils/src/planar_pointcloud_simulator_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-10> (3) - *M* jsk_pcl_ros_utils/src/plane_concatenator_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-11> (2) - *M* jsk_pcl_ros_utils/src/plane_reasoner_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-12> (2) - *M* jsk_pcl_ros_utils/src/point_indices_to_cluster_point_ indices_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-13> (2) - *M* jsk_pcl_ros_utils/src/point_indices_to_mask_image_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-14> (1) - *M* jsk_pcl_ros_utils/src/pointcloud_relative_from_pose_ stamped_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-15> (2) - *M* jsk_pcl_ros_utils/src/pointcloud_to_cluster_point_ indices_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-16> (2) - *M* jsk_pcl_ros_utils/src/pointcloud_to_mask_image_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-17> (1) - *M* jsk_pcl_ros_utils/src/pointcloud_to_point_indices_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-18> (1) - *M* jsk_pcl_ros_utils/src/polygon_array_angle_likelihood_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-19> (2) - *M* jsk_pcl_ros_utils/src/polygon_array_area_likelihood_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-20> (2) - *M* jsk_pcl_ros_utils/src/polygon_array_distance_likelihood_ nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-21> (3) - *M* jsk_pcl_ros_utils/src/polygon_array_foot_angle_likelihood_ nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-22> (3) - *M* jsk_pcl_ros_utils/src/polygon_flipper_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-23> (2) - *M* jsk_pcl_ros_utils/src/polygon_magnifier_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-24> (1) - *M* jsk_pcl_ros_utils/src/polygon_points_sampler_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-25> (3) - *M* jsk_pcl_ros_utils/src/pose_with_covariance_stamped_to_ gaussian_pointcloud_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-26> (4) - *M* jsk_pcl_ros_utils/src/spherical_pointcloud_simulator_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-27> (2) - *M* jsk_pcl_ros_utils/src/subtract_point_indices_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-28> (2) - *M* jsk_pcl_ros_utils/src/tf_transform_bounding_box_array_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-29> (2) - *M* jsk_pcl_ros_utils/src/tf_transform_bounding_box_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-30> (1) - *M* jsk_pcl_ros_utils/src/tf_transform_cloud_nodelet.cpp <https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043/files#diff-31> (2) Patch Links: - https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043.patch - https://github.com/jsk-ros-pkg/jsk_recognition/pull/2043.diff — You are receiving this because you are subscribed to this thread. 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[furushchev]

@k-okada You mean onInitPostProcess? Unfortunately, I think no, we should wait calling subscribe until all initialization is done and we have no way to hook on onInit is done.

[wkentaro]

Unfortunately, I think no, we should wait calling subscribe until all initialization is done and we have no way to hook on onInit is done.

Yeah, we need to wait the advertising in onInit method.

[k-okada]

ok, merged, but this could be very dangerous, like init-ending of euslisp robot model. i'm afraid a lot of people will forget to add this when they create new nodelet.