keras_ros diagnostics

Author: reinzor

keras_ros/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>keras_ros</name>
   <version>0.0.1</version>
   <description>The keras_ros package</description>
@@ -9,14 +9,13 @@
   <license>TODO</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>image_recognition_msgs</build_depend>
-  <build_depend>image_recognition_util</build_depend>
 
-  <run_depend>rospy</run_depend>
-  <run_depend>image_recognition_msgs</run_depend>
-  <run_depend>python-keras-pip</run_depend>
-  <run_depend>python-numpy</run_depend>
-  <run_depend>python-opencv</run_depend>
-  <run_depend>python-tensorflow-pip</run_depend>
+  <exec_depend>diagnostic_updater</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>image_recognition_msgs</exec_depend>
+  <exec_depend>image_recognition_util</exec_depend>
+  <exec_depend>python-keras-pip</exec_depend>
+  <exec_depend>python-numpy</exec_depend>
+  <exec_depend>python-opencv</exec_depend>
+  <exec_depend>python-tensorflow-pip</exec_depend>
 </package>

keras_ros/scripts/face_properties_node

@@ -4,6 +4,7 @@ import os
 import sys
 
 import cv2
+import diagnostic_updater
 import rospy
 from cv_bridge import CvBridge, CvBridgeError
 from image_recognition_msgs.msg import FaceProperties
@@ -89,6 +90,10 @@ if __name__ == '__main__':
 
     try:
         WideResnetFaceProperties(weights_file_path, img_size, depth, width, save_images_folder)
+        updater = diagnostic_updater.Updater()
+        updater.setHardwareID("none")
+        updater.add(diagnostic_updater.Heartbeat())
+        rospy.Timer(rospy.Duration(1), lambda event: updater.force_update())
         rospy.spin()
     except Exception as e:
         rospy.logfatal(e)