Added check for ros master on startup. More work on video coordinator.

ground_station/Framework/StartupSystems/ROSMasterChecker.py

@@ -0,0 +1,45 @@
+#####################################
+# Imports
+#####################################
+# Python native imports
+from PyQt5 import QtCore, QtGui, QtWidgets
+import time
+import logging
+import socket
+
+import rospy
+
+# Custom Imports
+
+#####################################
+# Global Variables
+#####################################
+
+
+#####################################
+# RoverVideoReceiver Class Definition
+#####################################
+class ROSMasterChecker(QtCore.QThread):
+    def __init__(self):
+        super(ROSMasterChecker, self).__init__()
+
+        # ########## Class Variables ##########
+        self.ros_master_present = False
+
+        self.start_time = time.time()
+        self.start()
+
+    def run(self):
+        try:
+            master = rospy.get_master()
+            master.getPid()
+            self.ros_master_present = True
+        except socket.error:
+            return
+
+    def master_present(self, timeout):
+        while self.isRunning() and (time.time() - self.start_time) < timeout:
+            self.msleep(100)
+
+        return self.ros_master_present
+