Merge pull request #69 from shadow-robot/F_adding_component_to_watchdog

F adding component to watchdog

sr_utilities_common/README.md

@@ -27,62 +27,3 @@ if __name__ == '__main__':
 ```
 
 The above code will be executing an infinite loop until shutdown for the node is initiated. Then, before the node dies, the `clean_up` method will be executed. 
-
-## Watchdog
-A watchdog class that continuously runs specified check methods and informs the user about any undesired behaviours.
-
-<p align="center">
-    <img src="doc/watchdog.png">
-</p>
-
-An example of how to properly use the class can be seen in the code snipper below:
-```python
-#!/usr/bin/python
-
-import rospy
-from sr_utilities_common.shutdown_handler import ShutdownHandler
-from sr_utilities_common.watchdog import SrWatchdog
-
-class TestChecksClass(object):
-    def __init__(self):
-        self.tmp = [0, 0, 0]
-
-    def mock_check_robot_clear_from_collision(self):
-        rospy.sleep(4)
-        if self.tmp[0] != 1:
-            self.tmp[0] = 1
-            return False
-        else:
-            self.tmp[0] = 0
-            return True
-
-    def mock_check_if_arm_running(self):
-        rospy.sleep(5)
-        if self.tmp[1] != 0:
-            self.tmp[1] = 0
-            return (False, "Something went wrong!")
-        else:
-            self.tmp[1] = 1
-            return True
-
-
-if __name__ == '__main__':
-    rospy.init_node('mock_sr_teleop_watchdog')
-
-    test_class = TestChecksClass()
-    error_checks_list = ['mock_check_if_arm_running']
-    warning_checks_list = ['mock_check_robot_clear_from_collision']
-
-    teleop_watchdog = SrWatchdog(test_class, error_checks_list, warning_checks_list)
-    shutdown_handler = ShutdownHandler(teleop_watchdog, 'clean_up()')
-    teleop_watchdog.run()
-    rospy.spin()
-```
-
-All the check methods are defined in a separate class. There are two types of checks supported. Error checks, which will change general status to `error` and throw an error message, and warning checks, which do not affect the reported status but inform the user that something has happened. In order to classify a check as error or warning check, their method name needs to be put in a proper list that is further passed to the `SrWatchdog` class constructor, together with the checks class object.
-
-The check methods are required to return either `True` (for passed check) or `False` (for failed check) values. Alternatively, in case of failure, error checks can return a tuple of `(False, <error message>)` where `<error message>` is additional, user-defined error message.
-
-In the code snippet above, a `ShutdownHandler` is defined as well in order to clean up console display changes performed by the watchdog class. This step is desired, but not necessary.
-
-It is recommended to run the watchdog in a separate xterm window, as used in this [launch file](./launch/mock_watchdog.launch). This launch file can also be used as a reference to how the watchdog class works.