Self Check Improvements

[duggerdufl]

• Add an indication of which thrusters are not detected.
• Check lsusb to detect if the cameras are plugged in vs the cameras launch not running.
• Detect peripheral devices like the actuator box and the passive sonar (if they respond to a RS485 ping).
• Check fps for all camera topics
• Checking for degenerate thruster configurations

[DSsoto]

I would like to have a tool to automatically spin each thruster in sequence to confirm that they are indexed correctly and spinning in the right direction.

I'm currently looking at @jpanikulam's attempts at something like this.

[duggerdufl]

That's a good idea. Would save time when we have problems or have to change out a thruster.

[sentree]

It would be fairly straight forward to write an RQT plugin for this.

[duggerdufl]

What's the advantage of a RQT plugin over just a text based tool?

[sentree]

I didn't realize this was just a request to the existing system, sorry. It should be pretty simple to set ROS parameters for the path to each device in /dev and check if the file exists from Python.

[sentree]

@DSsoto suggested creating alarms so that we are notified of any changes.

[DSsoto]

I addressed the 2 first points @duggerd made and also created the thruster_spin_test utility, Some of these diagnostic tests should be reported to the alarm server though, I will put that on the back burner.

BTW, should we make the self_check run automatically when we launch the sub? Thoughts?

[sentree]

As long as the sub is still in a totally inert and killed state for the test, this is fine. I don't want Ken getting any thruster surprises if someone forgets that this is a default launch behavior.

[DSsoto]

We should also add to the self check:

• Check fps for all camera topics using rostopic hz (like @ironmig did for SCRIPTS: switch bag variable to image_rect_color, add fps alias #250)
• Checking for degenerate thruster configurations (Kill when we have degenerate thruster setup #252)

Modified @duggerd's initial post so we can track progress from the issues tab