Use DiagnosticTransport instead of ConnectionBasedTransport

jsk_pcl_ros/scripts/color_histogram_visualizer.py

@@ -13,7 +13,7 @@
 from matplotlib import pyplot as plt
 from matplotlib import gridspec
 import rospy
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 from jsk_recognition_msgs.msg import ColorHistogram, ColorHistogramArray
 from sensor_msgs.msg import Image
 from jsk_pcl_ros.cfg import ColorHistogramVisualizerConfig as Config
@@ -24,7 +24,7 @@
 IMG_HEIGHT=600
 
 
-class ColorHistogramVisualizer(ConnectionBasedTransport):
+class ColorHistogramVisualizer(DiagnosticTransport):
     def __init__(self):
         super(ColorHistogramVisualizer, self).__init__()
 
@@ -62,6 +62,7 @@ def get_hsv_color_map_2d(self):
         return hsv_map
 
     def callback(self, msg):
+        self.vital_checker.poke()
         if self.histogram_policy == Config.ColorHistogramVisualizer_HUE:
             img = self.plot_hist_hue(msg.histogram)
         elif self.histogram_policy == Config.ColorHistogramVisualizer_HUE_AND_SATURATION:
@@ -76,6 +77,7 @@ def callback(self, msg):
             rospy.logerr("Failed to convert image: %s" % str(e))
 
     def callback_array(self, msg):
+        self.vital_checker.poke()
         if 0 <= self.histogram_index < len(msg.histograms):
             self.callback(msg.histograms[self.histogram_index])
         else:

jsk_pcl_ros/scripts/detect_graspable_poses_pcabase.py

@@ -7,11 +7,11 @@
 import tf.transformations
 
 from geometry_msgs.msg import Pose, PoseArray
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 from sensor_msgs.msg import PointCloud2
 from sklearn.decomposition import PCA
 
-class DetectGraspablePosesPcabase(ConnectionBasedTransport):
+class DetectGraspablePosesPcabase(DiagnosticTransport):
 
     def __init__(self):
 
@@ -32,7 +32,7 @@ def unsubscribe(self):
         self.sub.unregister()
 
     def callback(self, point_cloud):
-
+        self.vital_checker.poke()
         points = np.array(list(pc2.read_points(point_cloud, skip_nans=True)))
 
         interval_m = self.interval_m

jsk_pcl_ros/scripts/extract_top_polygon_likelihood.py

@@ -1,15 +1,15 @@
 #!/usr/bin/env python
 
 import rospy 
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 from jsk_recognition_msgs.msg import PolygonArray, ModelCoefficientsArray
 from pcl_msgs.msg import ModelCoefficients
 from geometry_msgs.msg import PolygonStamped
 import message_filters
 from dynamic_reconfigure.server import Server
 from jsk_pcl_ros.cfg import ExtractTopPolygonLikelihoodConfig
 
-class ExtractTopPolygonLikelihood(ConnectionBasedTransport):
+class ExtractTopPolygonLikelihood(DiagnosticTransport):
     def __init__(self):
         super(ExtractTopPolygonLikelihood, self).__init__()
         self._srv = Server(ExtractTopPolygonLikelihoodConfig, self.config_callback)
@@ -27,6 +27,7 @@ def unsubscribe(self):
         self._sub.sub.unregister()
         self._sub_coef.sub.unregister()
     def callback(self, msg, msg_coef):
+        self.vital_checker.poke()
         if len(msg.polygons) > 0:
             #self._pub.publish(msg.histograms[0])
             max_index = max(xrange(len(msg.polygons)), key=lambda i: msg.likelihood[i])

jsk_pcl_ros_utils/scripts/evaluate_box_segmentation_by_gt_box.py

@@ -4,10 +4,10 @@
 from jsk_recognition_msgs.msg import BoundingBox
 import jsk_recognition_utils
 import rospy
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 
 
-class EvaluateBoxSegmentationByGTBox(ConnectionBasedTransport):
+class EvaluateBoxSegmentationByGTBox(DiagnosticTransport):
 
     def __init__(self):
         super(EvaluateBoxSegmentationByGTBox, self).__init__()

jsk_pcl_ros_utils/scripts/evaluate_voxel_segmentation_by_gt_box.py

@@ -3,12 +3,12 @@
 from jsk_recognition_msgs.msg import Accuracy
 from jsk_recognition_msgs.msg import BoundingBox
 import jsk_recognition_utils
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 import rospy
 from visualization_msgs.msg import MarkerArray
 
 
-class EvaluateVoxelSegmentationByGTBox(ConnectionBasedTransport):
+class EvaluateVoxelSegmentationByGTBox(DiagnosticTransport):
 
     def __init__(self):
         super(EvaluateVoxelSegmentationByGTBox, self).__init__()

jsk_perception/node_scripts/aws_detect_faces.py

@@ -13,7 +13,7 @@
 from dynamic_reconfigure.server import Server
 from jsk_perception.cfg import AWSDetectFacesConfig
 
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 from geometry_msgs.msg import PoseArray, Pose, Point
 from sensor_msgs.msg import CompressedImage, Image
 from opencv_apps.msg import FaceArrayStamped, Face, Rect
@@ -56,7 +56,7 @@
 ]
 
 
-class DetectFaces(ConnectionBasedTransport):
+class DetectFaces(DiagnosticTransport):
 
     def __init__(self):
         super(self.__class__, self).__init__()
@@ -160,6 +160,7 @@ def process_attributes(self, text, img, bbox):
             self.offset += 16
 
     def image_callback(self, image):
+        self.vital_checker.poke()
         start_time = rospy.Time.now()
         # decode compressed image
         np_arr = np.fromstring(image.data, np.uint8)

jsk_perception/node_scripts/binpack_rect_array.py

@@ -4,7 +4,7 @@
 
 import cv_bridge
 from jsk_recognition_utils.depth import split_fore_background
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 from jsk_recognition_msgs.msg import RectArray, Rect
 import message_filters
 import rospy
@@ -93,7 +93,7 @@ def grow_down(self, w, h):
 # def fuga(msg):
 #     print "~input/rect_array", msg.header.stamp.to_sec()
 
-class BinPack(ConnectionBasedTransport):
+class BinPack(DiagnosticTransport):
     def __init__(self):
         super(BinPack, self).__init__()
         self.pub_ = self.advertise('~output', Image, queue_size=10)
@@ -113,6 +113,7 @@ def unsubscribe(self):
         self.sub_.sub.unregister()
         self.sub_rects_.sub.unregister()
     def _apply(self, img_msg, rects):
+        self.vital_checker.poke()
         bridge = cv_bridge.CvBridge()
         img = bridge.imgmsg_to_cv2(img_msg)
         root_rect, blocks = self.bin_pack(rects)

jsk_perception/node_scripts/bof_histogram_extractor.py

@@ -15,14 +15,14 @@
 import cv_bridge
 from jsk_recognition_msgs.msg import VectorArray
 from jsk_recognition_utils import decompose_descriptors_with_label
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 import message_filters
 from posedetection_msgs.msg import Feature0D
 from sensor_msgs.msg import Image
 import rospy
 
 
-class BoFHistogramExtractor(ConnectionBasedTransport):
+class BoFHistogramExtractor(DiagnosticTransport):
     def __init__(self):
         super(BoFHistogramExtractor, self).__init__()
 
@@ -67,6 +67,7 @@ def unsubscribe(self):
         self._sub_label.unregister()
 
     def _apply(self, feature_msg, label_msg):
+        self.vital_checker.poke()
         bridge = cv_bridge.CvBridge()
         label = bridge.imgmsg_to_cv2(label_msg)
         desc = np.array(feature_msg.descriptors)

jsk_perception/node_scripts/depth_image_filter.py

@@ -3,13 +3,13 @@
 import cv_bridge
 from dynamic_reconfigure.server import Server
 from jsk_perception.cfg import DepthImageFilterConfig as Config
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 import numpy as np
 import rospy
 from sensor_msgs.msg import Image
 
 
-class DepthImageFilter(ConnectionBasedTransport):
+class DepthImageFilter(DiagnosticTransport):
 
     def __init__(self):
         super(DepthImageFilter, self).__init__()
@@ -32,6 +32,7 @@ def config_callback(self, config, level):
         return config
 
     def callback(self, depth_img_msg):
+        self.vital_checker.poke()
         bridge = self.bridge
 
         supported_encodings = {'16UC1', '32FC1'}

jsk_perception/node_scripts/draw_classification_result.py

@@ -8,15 +8,15 @@
 import cv_bridge
 from distutils.version import LooseVersion
 from jsk_recognition_msgs.msg import ClassificationResult
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 import message_filters
 import numpy as np
 import rospy
 from sensor_msgs.msg import Image
 from jsk_recognition_utils.color import labelcolormap
 
 
-class DrawClassificationResult(ConnectionBasedTransport):
+class DrawClassificationResult(DiagnosticTransport):
 
     def __init__(self):
         super(self.__class__, self).__init__()
@@ -35,6 +35,7 @@ def unsubscribe(self):
         self.sub_img.unregister()
 
     def _draw(self, cls_msg, imgmsg):
+        self.vital_checker.poke()
         bridge = cv_bridge.CvBridge()
         rgb = bridge.imgmsg_to_cv2(imgmsg, desired_encoding='rgb8')
 

jsk_perception/node_scripts/draw_rects.py

@@ -9,7 +9,7 @@
 from jsk_recognition_msgs.msg import RectArray
 from jsk_recognition_utils.color import labelcolormap
 from jsk_recognition_utils.put_text import put_text_to_image
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 from jsk_topic_tools import warn_no_remap
 import message_filters
 import numpy as np
@@ -19,7 +19,7 @@
 from jsk_perception.cfg import DrawRectsConfig
 
 
-class DrawRects(ConnectionBasedTransport):
+class DrawRects(DiagnosticTransport):
 
     def __init__(self):
         super(DrawRects, self).__init__()
@@ -94,6 +94,7 @@ def unsubscribe(self):
             sub.sub.unregister()
 
     def draw_rects_callback(self, img_msg, rects_msg, class_msg=None):
+        self.vital_checker.poke()
         bridge = cv_bridge.CvBridge()
         cv_img = bridge.imgmsg_to_cv2(img_msg, desired_encoding='bgr8')
 

jsk_perception/node_scripts/extract_image_channel.py

@@ -12,7 +12,7 @@
 import cv_bridge
 import dynamic_reconfigure.server
 from jsk_perception.cfg import ExtractImageChannelConfig
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 from jsk_topic_tools.log_utils import logwarn_throttle
 import rospy
 from sensor_msgs.msg import Image
@@ -34,7 +34,7 @@ def encoding_to_dtype_with_channels(self, encoding):
                 raise cv_bridge.CvBridgeError(e)
 
 
-class ExtractImageChannel(ConnectionBasedTransport):
+class ExtractImageChannel(DiagnosticTransport):
 
     def __init__(self):
         super(self.__class__, self).__init__()
@@ -53,6 +53,7 @@ def unsubscribe(self):
         self.sub.unregister()
 
     def _callback(self, imgmsg):
+        self.vital_checker.poke()
         if self.channel < 0:
             return
         bridge = CvBridgeArbitraryChannels()

jsk_perception/node_scripts/face_pose_estimation.py

@@ -37,7 +37,7 @@
 
 import cv_bridge
 from dynamic_reconfigure.server import Server
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 import message_filters
 import rospy
 import tf.transformations as T
@@ -211,7 +211,7 @@ def __call__(self, imgs):
         return self.forward(imgs)
 
 
-class FacePoseEstimator(ConnectionBasedTransport):
+class FacePoseEstimator(DiagnosticTransport):
     def __init__(self):
         super(FacePoseEstimator, self).__init__()
 
@@ -278,6 +278,7 @@ def unsubscribe(self):
             s.unregister()
 
     def callback(self, img, pose2d, pose3d):
+        self.vital_checker.poke()
         header = img.header
         try:
             img = self.cv_bridge.imgmsg_to_cv2(img, "bgr8")

jsk_perception/node_scripts/fast_rcnn.py

@@ -42,7 +42,7 @@
 from jsk_recognition_utils.chainermodels import VGG16FastRCNN
 from jsk_recognition_utils.chainermodels import VGG_CNN_M_1024
 from jsk_recognition_utils.nms import nms
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 import message_filters
 import rospkg
 import rospy
@@ -62,7 +62,7 @@ def img_preprocessing(orig_img, pixel_means, max_size=1000, scale=600):
     return img.transpose([2, 0, 1]).astype(np.float32), im_scale
 
 
-class FastRCNN(ConnectionBasedTransport):
+class FastRCNN(DiagnosticTransport):
 
     def __init__(self, model, target_names, pixel_means, use_gpu):
         super(FastRCNN, self).__init__()
@@ -104,6 +104,7 @@ def unsubscribe(self):
         self._sub_rects.unregister()
 
     def _detect(self, imgmsg, rects_msg):
+        self.vital_checker.poke()
         bridge = cv_bridge.CvBridge()
         im_orig = bridge.imgmsg_to_cv2(imgmsg, desired_encoding='bgr8')
         im, im_scale = img_preprocessing(im_orig, self.pixel_means)

jsk_perception/node_scripts/fcn_depth_prediction.py

@@ -33,7 +33,7 @@
 import cv_bridge
 from jsk_recognition_utils.chainermodels import FCN8sDepthPrediction
 from jsk_recognition_utils.chainermodels import FCN8sDepthPredictionConcatFirst
-from jsk_topic_tools import ConnectionBasedTransport
+from jsk_topic_tools import DiagnosticTransport
 import message_filters
 import rospy
 from sensor_msgs.msg import Image
@@ -55,7 +55,7 @@ def colorize_depth(depth, min_value=None, max_value=None):
     return colorized
 
 
-class FCNDepthPrediction(ConnectionBasedTransport):
+class FCNDepthPrediction(DiagnosticTransport):
 
     def __init__(self):
         super(self.__class__, self).__init__()
@@ -134,6 +134,7 @@ def transform_depth(self, depth):
         return depth_viz_bgr
 
     def _cb(self, img_msg, depth_msg):
+        self.vital_checker.poke()
         br = cv_bridge.CvBridge()
         bgr_img = br.imgmsg_to_cv2(img_msg, desired_encoding='bgr8')
         depth_img = br.imgmsg_to_cv2(depth_msg, desired_encoding='passthrough')