Merge pull request #8 from captntuttle/System_Statuses

addes system status work to fixed branch
2025-11-08 18:21:15 +00:00 · 2018-01-30 09:46:56 -08:00
parent c2f9cd5415 14e5da61ea
commit b997960ea9
17 changed files with 958 additions and 0 deletions
--- a/software/rover/system_statuses/CMakeLists.txt
+++ b/software/rover/system_statuses/CMakeLists.txt
@@ -0,0 +1,211 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(system_statuses)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+add_message_files(
+    FILES
+    RoverSysStatus.msg
+    BogieStatuses.msg
+    FrSkyStatus.msg
+    JetsonInfo.msg
+    CameraStatuses.msg
+    GPSInfo.msg
+    MiscStatuses.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES system_statuses
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/system_statuses.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/system_statuses_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_system_statuses.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- a/software/rover/system_statuses/msg/.RoverSysStatus.msg.kate-swp
+++ b/software/rover/system_statuses/msg/.RoverSysStatus.msg.kate-swp
--- a/software/rover/system_statuses/msg/BogieStatuses.msg
+++ b/software/rover/system_statuses/msg/BogieStatuses.msg
@@ -0,0 +1,3 @@
+int8 bogie_connection_1
+int8 bogie_connection_2
+int8 bogie_connection_3
--- a/software/rover/system_statuses/msg/CameraStatuses.msg
+++ b/software/rover/system_statuses/msg/CameraStatuses.msg
@@ -0,0 +1,4 @@
+int8 camera_zed
+int8 camera_undercarriage
+int8 camera_chassis
+int8 camera_main_navigation
--- a/software/rover/system_statuses/msg/FrSkyStatus.msg
+++ b/software/rover/system_statuses/msg/FrSkyStatus.msg
@@ -0,0 +1 @@
+int8 FrSky_controller_connection_status
--- a/software/rover/system_statuses/msg/GPSInfo.msg
+++ b/software/rover/system_statuses/msg/GPSInfo.msg
@@ -0,0 +1,2 @@
+int8 UTC_GPS_time
+int8 GPS_connection_status
--- a/software/rover/system_statuses/msg/JetsonInfo.msg
+++ b/software/rover/system_statuses/msg/JetsonInfo.msg
@@ -0,0 +1,5 @@
+float64 jetson_CPU
+float64 jetson_RAM
+float64 jetson_EMMC
+float64 jetson_NVME_SSD
+float64 jetson_GPU_temp
--- a/software/rover/system_statuses/msg/MiscStatuses.msg
+++ b/software/rover/system_statuses/msg/MiscStatuses.msg
@@ -0,0 +1,5 @@
+int8 arm_connection_status
+int8 arm_end_effector_connection_statuses
+int8 sample_containment_connection_status
+int8 tower_connection_status
+int8 chassis_pan_tilt_connection_status
--- a/software/rover/system_statuses/msg/RoverSysStatus.msg
+++ b/software/rover/system_statuses/msg/RoverSysStatus.msg
@@ -0,0 +1,19 @@
+int8 UTC_GPS_time
+int8 bogie_connection_1
+int8 bogie_connection_2
+int8 bogie_connection_3
+int8 arm_connection_status
+int8 arm_end_effector_connection_statuses
+int8 camera_zed
+int8 camera_undercarriage
+int8 camera_chassis
+int8 camera_main_navigation
+int8 sample_containment_connection_status
+int8 tower_connection_status
+int8 chassis_pan_tilt_connection_status
+int8 GPS_connection_status
+int8 jetson_CPU
+int8 jetson_RAM
+int8 jetson_EMMC
+int8 jetson_NVME_SSD
+int8 FrSky_controller_connection_status
--- a/software/rover/system_statuses/package.xml
+++ b/software/rover/system_statuses/package.xml
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>system_statuses</name>
+  <version>0.0.0</version>
+  <description>The system_statuses package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="matcurtay@matcurtay.net">matcurtay</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/system_statuses</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <build_depend>message_generation</build_depend> 
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <exec_depend>message_runtime</exec_depend>
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
--- a/software/rover/system_statuses/scripts/.idea/misc.xml
+++ b/software/rover/system_statuses/scripts/.idea/misc.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 2.7" project-jdk-type="Python SDK" />
+</project>
--- a/software/rover/system_statuses/scripts/.idea/modules.xml
+++ b/software/rover/system_statuses/scripts/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/scripts.iml" filepath="$PROJECT_DIR$/.idea/scripts.iml" />
+    </modules>
+  </component>
+</project>
--- a/software/rover/system_statuses/scripts/.idea/scripts.iml
+++ b/software/rover/system_statuses/scripts/.idea/scripts.iml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+  <component name="TestRunnerService">
+    <option name="projectConfiguration" value="Nosetests" />
+    <option name="PROJECT_TEST_RUNNER" value="Nosetests" />
+  </component>
+</module>
--- a/software/rover/system_statuses/scripts/.idea/workspace.xml
+++ b/software/rover/system_statuses/scripts/.idea/workspace.xml
@@ -0,0 +1,266 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ChangeListManager">
+    <list default="true" id="70471578-1307-4c98-9010-bffc2d7cc71c" name="Default" comment="" />
+    <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
+    <option name="TRACKING_ENABLED" value="true" />
+    <option name="SHOW_DIALOG" value="false" />
+    <option name="HIGHLIGHT_CONFLICTS" value="true" />
+    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
+    <option name="LAST_RESOLUTION" value="IGNORE" />
+  </component>
+  <component name="FileEditorManager">
+    <leaf SIDE_TABS_SIZE_LIMIT_KEY="525">
+      <file leaf-file-name="system_statuses_node.py" pinned="false" current-in-tab="true">
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+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file leaf-file-name="rover_statuses.py" pinned="false" current-in-tab="false">
+        <entry file="file://$PROJECT_DIR$/rover_statuses.py">
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+  </component>
+  <component name="FileTemplateManagerImpl">
+    <option name="RECENT_TEMPLATES">
+      <list>
+        <option value="Python Script" />
+      </list>
+    </option>
+  </component>
+  <component name="IdeDocumentHistory">
+    <option name="CHANGED_PATHS">
+      <list>
+        <option value="$PROJECT_DIR$/system_statuses.py" />
+        <option value="$PROJECT_DIR$/node_statuses.py" />
+        <option value="$PROJECT_DIR$/camera_2_updater.py" />
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--- a/software/rover/system_statuses/scripts/camera_2_updater.py
+++ b/software/rover/system_statuses/scripts/camera_2_updater.py
@@ -0,0 +1,26 @@
+#!/usr/bin/env python
+
+# import rospy
+# from system_statuses.msg import Camera2Changer
+
+
+# def camera_2_changer():
+#    pub = rospy.Publisher('camera_2_changer_chatter', Camera2Changer, queue_size=10)
+#    rospy.init_node('camera_2_changer_talker', anonymous=True)
+#    # r = rospy.sleep(10)  # 10hz
+#    msg = Camera2Changer()
+#    msg.camera_2_value = 0
+
+#    while not rospy.is_shutdown():
+#        msg.camera_2_value = (msg.camera_2_value + 1) % 2
+#        rospy.loginfo(msg)
+#        pub.publish(msg)
+        # r.sleep()
+##         rospy.sleep(2.)
+
+
+#if __name__ == '__main__':
+#    try:
+#        camera_2_changer()
+#    except rospy.ROSInterruptException:
+#        pass
--- a/software/rover/system_statuses/scripts/rover_statuses.py
+++ b/software/rover/system_statuses/scripts/rover_statuses.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python
+import rospy
+from system_statuses.msg import CameraStatuses, BogieStatuses, FrSkyStatus, GPSInfo, MiscStatuses, JetsonInfo
+
+
+# THIS IS A SUPER ROUGH EXAMPLE OF HOW TO PULL THE DATA
+# You can create your own message formats in the msg folder
+# This is a simple example of pulling data from system_statuses_node.py
+# and storing them into self values.
+# The ground control code sounds like it'll be fairly different in format.
+
+class RoverStatuses:
+
+    def __init__(self):
+
+        rospy.init_node('RoverStatuses')
+
+        # self.pub = rospy.Publisher('rover_statuses_chatter', RoverSysStatus, queue_size=10)
+
+        # Subscription examples on pulling data from system_statuses_node.py
+        rospy.Subscriber('camera_system_status_chatter', CameraStatuses, self.__camera_callback)
+        rospy.Subscriber('bogie_system_status_chatter', BogieStatuses, self.__bogie_callback)
+        rospy.Subscriber('FrSky_system_status_chatter', FrSkyStatus, self.__frsky_callback)
+        rospy.Subscriber('GPS_system_status_chatter', GPSInfo, self.__gps_callback)
+        rospy.Subscriber('jetson_system_status_chatter', JetsonInfo, self.__jetson_callback)
+        rospy.Subscriber('misc_system_status_chatter', MiscStatuses, self.__misc_callback)
+
+        self.camera_msg = CameraStatuses()
+        self.bogie_msg = BogieStatuses()
+        self.FrSky_msg = FrSkyStatus()
+        self.GPS_msg = GPSInfo()
+        self.jetson_msg = JetsonInfo()
+        self.misc_msg = MiscStatuses()
+
+    def __camera_callback(self, data):
+        self.camera_msg.camera_zed = data.camera_zed
+        self.camera_msg.camera_undercarriage = data.camera_undercarriage
+        self.camera_msg.camera_chassis = data.camera_chassis
+        self.camera_msg.camera_main_navigation = data.camera_main_navigation
+
+    def __frsky_callback(self, data):
+        self.FrSky_msg.FrSky_controller_connection_status = data.FrSky_controller_connection_status
+
+    def __bogie_callback(self, data):
+        self.bogie_msg.bogie_connection_1 = data.bogie_connection_1
+        self.bogie_msg.bogie_connection_2 = data.bogie_connection_2
+        self.bogie_msg.bogie_connection_3 = data.bogie_connection_3
+
+    def __jetson_callback(self, data):
+        self.jetson_msg.jetson_CPU = data.jetson_CPU
+        self.jetson_msg.jetson_RAM = data.jetson_RAM
+        self.jetson_msg.jetson_EMMC = data.jetson_EMMC
+        self.jetson_msg.jetson_NVME_SSD = data.jetson_NVME_SSD
+        self.jetson_msg.jetson_GPU_temp = data.jetson_GPU_temp
+        rospy.loginfo(self.jetson_msg)
+
+    def __gps_callback(self, data):
+        self.GPS_msg.UTC_GPS_time = data.UTC_GPS_time
+        self.GPS_msg.GPS_connection_status = data.GPS_connection_status
+
+    def __misc_callback(self, data):
+        self.misc_msg.arm_connection_status = data.arm_connection_status
+        self.misc_msg.arm_end_effector_connection_statuses = data.arm_end_effector_connection_statuses
+        self.misc_msg.sample_containment_connection_status = data.sample_containment_connection_status
+        self.misc_msg.tower_connection_status = data.tower_connection_status
+        self.misc_msg.chassis_pan_tilt_connection_status = data.chassis_pan_tilt_connection_status
+
+    def run(self):
+        rospy.Subscriber('camera_system_status_chatter', CameraStatuses, self.__camera_callback)
+        rospy.Subscriber('bogie_system_status_chatter', BogieStatuses, self.__bogie_callback)
+        rospy.Subscriber('FrSky_system_status_chatter', FrSkyStatus, self.__frsky_callback)
+        rospy.Subscriber('GPS_system_status_chatter', GPSInfo, self.__gps_callback)
+        rospy.Subscriber('jetson_system_status_chatter', JetsonInfo, self.__jetson_callback)
+        rospy.Subscriber('misc_system_status_chatter', MiscStatuses, self.__misc_callback)
+        rospy.spin()
+
+
+if __name__ == '__main__':
+    rover_statuses = RoverStatuses()
+    rover_statuses.run()
--- a/software/rover/system_statuses/scripts/system_statuses_node.py
+++ b/software/rover/system_statuses/scripts/system_statuses_node.py
@@ -0,0 +1,244 @@
+#!/usr/bin/env python
+import rospy
+import os.path
+import psutil
+import subprocess
+from system_statuses.msg import CameraStatuses, BogieStatuses, FrSkyStatus, GPSInfo, MiscStatuses, JetsonInfo
+
+
+class SystemStatuses:
+
+    def __init__(self):
+        # Camera path locations
+        self.system_path_locations = [
+            '/dev/rover/camera_zed',
+            '/dev/rover/camera_undercarriage',
+            '/dev/rover/camera_chassis',
+            '/dev/rover/camera_main_navigation'
+        ]
+
+        # filesystem paths for EMMC [0] and NVME_SSD [1]
+        # -- UPDATE [1] FOR JETSON --
+        self.file_systems_EMMC_NVMe_SSD = [
+            '/',
+            '/dev/shm'
+        ]
+
+        rospy.init_node('SystemStatuses')
+
+        # init all publisher functions
+        self.pub_camera = rospy.Publisher('camera_system_status_chatter', CameraStatuses, queue_size=10)
+        self.pub_bogie = rospy.Publisher('bogie_system_status_chatter', BogieStatuses, queue_size=10)
+        self.pub_FrSky = rospy.Publisher('FrSky_system_status_chatter', FrSkyStatus, queue_size=10)
+        self.pub_GPS = rospy.Publisher('GPS_system_status_chatter', GPSInfo, queue_size=10)
+        self.pub_jetson = rospy.Publisher('jetson_system_status_chatter', JetsonInfo, queue_size=10)
+        self.pub_Misc = rospy.Publisher('misc_system_status_chatter', MiscStatuses, queue_size=10)
+
+        # init all message variables
+        self.camera_msg = CameraStatuses()
+        self.bogie_msg = BogieStatuses()
+        self.FrSky_msg = FrSkyStatus()
+        self.GPS_msg = GPSInfo()
+        self.jetson_msg = JetsonInfo()
+        self.misc_msg = MiscStatuses()
+
+        # init all message values
+        self.__pull_new_message_values()
+
+        # init all previous values
+        self.__update_all_previous_values()
+
+    # init all RoverSysMessage values
+    def __pull_new_message_values(self):
+        self.__set_gps_info()
+        self.__set_bogie_connection_statuses()
+        self.__set_arm_connection_status()
+        self.__set_arm_end_effector_connection_statuses()
+        self.__set_cameras()
+        self.__set_sample_containment_connection_status()
+        self.__set_tower_connection_status()
+        self.__set_chassis_pan_tilt_connection_status()
+        self.__set_jetson_usage_information()
+        self.__set_frsky_controller_connection_status()
+
+    # Pulls the UTC GPS Time (WIP)
+    def __set_gps_info(self):
+        self.GPS_msg.UTC_GPS_time = 0
+        self.GPS_msg.GPS_connection_status = 0
+
+    # Pulls bogie connection statuses (WIP)
+    def __set_bogie_connection_statuses(self):
+        self.bogie_msg.bogie_connection_1 = 0
+        self.bogie_msg.bogie_connection_2 = 0
+        self.bogie_msg.bogie_connection_3 = 0
+
+    # Checks arm connection status (WIP)
+    def __set_arm_connection_status(self):
+        self.misc_msg.arm_connection_status = 0
+
+    # Checks Arm End Effector Connection Statuses (WIP)
+    def __set_arm_end_effector_connection_statuses(self):
+        self.misc_msg.arm_end_effector_connection_statuses = 0
+
+    # Sets the Camera values (zed, undercarriage, chassis, and main_nav
+    def __set_cameras(self):
+            # Check if camera_zed is found
+            self.camera_msg.camera_zed = 1 if os.path.exists(self.system_path_locations[0]) else 0
+            # Check if camera_undercarriage is found
+            self.camera_msg.camera_undercarriage = 1 if os.path.exists(self.system_path_locations[1]) else 0
+            # Check if camera_chassis is found
+            self.camera_msg.camera_chassis = 1 if os.path.exists(self.system_path_locations[2]) else 0
+            # Check if camera_main_navigation is found
+            self.camera_msg.camera_main_navigation = 1 if os.path.exists(self.system_path_locations[3]) else 0
+
+    # Checks Sample Containment Connection Status (WIP)
+    def __set_sample_containment_connection_status(self):
+        self.misc_msg.sample_containment_connection_status = 0
+
+    def __set_tower_connection_status(self):
+        self.misc_msg.tower_connection_status = 0
+
+    # Checks Tower Connection Status (WIP)
+    def __set_chassis_pan_tilt_connection_status(self):
+        self.misc_msg.chassis_pan_tilt_connection_status = 0
+
+    # Get Jetson Statuses (WIP)
+    def __set_jetson_usage_information(self):
+        self.jetson_msg.jetson_CPU = psutil.cpu_percent()
+        mem = psutil.virtual_memory()
+        self.jetson_msg.jetson_RAM = mem.percent
+        self.jetson_msg.jetson_EMMC = self.__used_percent_fs(self.file_systems_EMMC_NVMe_SSD[0])
+        self.jetson_msg.jetson_NVME_SSD = self.__used_percent_fs(self.file_systems_EMMC_NVMe_SSD[1])
+
+        # Temperature
+        # This try except causes a bunch of annoying messages, but lets it run on non-jetson devices
+        # sets to -1.0 if sensor fails to give it a default value notifying failure to pull
+        try:
+            sensor_temperatures = subprocess.check_output("sensors | grep temp", shell=True)
+            parsed_temps = sensor_temperatures.replace("\xc2\xb0C","").replace("(crit = ","").replace("temp1:","")\
+                .replace("\n","").replace("+","").split()
+            self.jetson_msg.jetson_GPU_temp = parsed_temps[4]
+        except subprocess.CalledProcessError:
+            print 'sensors call failed (potential reason: on VM)'
+            self.jetson_msg.jetson_GPU_temp = -1.0
+
+    # EMMC and NVMe_SSD used % calculation
+    def __used_percent_fs(self, pathname):
+        statvfs = os.statvfs(pathname)
+        # percentage :: USED:
+        #   used amount: blocks - bfree
+        #   used%: used_amount / (used_amount + bavail)
+        used_available = (statvfs.f_frsize * statvfs.f_blocks / 1024) - (statvfs.f_frsize * statvfs.f_bfree / 1024.0)
+        used_percent = used_available / (used_available + (statvfs.f_frsize * statvfs.f_bavail / 1024.0))
+        # Round 4 for 2 decimal accuracy
+        value = 100 * round(used_percent, 4)
+        return value
+
+    # Check FrSky Controller Connection Status (WIP)
+    def __set_frsky_controller_connection_status(self):
+        self.FrSky_msg.FrSky_controller_connection_status = 0
+
+    # Used mainly for init, sets all previous values in one go
+    def __update_all_previous_values(self):
+        self.__set_previous_camera_values()
+        self.__set_previous_jetson_values()
+        self.__set_previous_frsky_value()
+        self.__set_previous_bogie_values()
+        self.__set_previous_gps_values()
+        self.__set_previous_misc_values()
+
+    def __set_previous_camera_values(self):
+        self.previous_camera_zed = self.camera_msg.camera_zed
+        self.previous_camera_undercarriage = self.camera_msg.camera_undercarriage
+        self.previous_camera_chassis = self.camera_msg.camera_chassis
+        self.previous_camera_main_navigation = self.camera_msg.camera_main_navigation
+
+    def __set_previous_jetson_values(self):
+        self.previous_jetson_CPU = self.jetson_msg.jetson_CPU
+        self.previous_jetson_RAM = self.jetson_msg.jetson_RAM
+        self.previous_jetson_EMMC = self.jetson_msg.jetson_EMMC
+        self.previous_jetson_NVME_SSD = self.jetson_msg.jetson_NVME_SSD
+        self.previous_jetson_GPU_temp = self.jetson_msg.jetson_GPU_temp
+
+    def __set_previous_frsky_value(self):
+        self.previous_FrSky_controller_connection_status = self.FrSky_msg.FrSky_controller_connection_status
+
+    def __set_previous_bogie_values(self):
+        self.previous_bogie_connection_1 = self.bogie_msg.bogie_connection_1
+        self.previous_bogie_connection_2 = self.bogie_msg.bogie_connection_2
+        self.previous_bogie_connection_3 = self.bogie_msg.bogie_connection_3
+
+    def __set_previous_gps_values(self):
+        self.previous_UTC_GPS_time = self.GPS_msg.UTC_GPS_time
+        self.previous_GPS_connection_status = self.GPS_msg.GPS_connection_status
+
+    def __set_previous_misc_values(self):
+        self.previous_arm_connection_status = self.misc_msg.arm_connection_status
+        self.previous_arm_end_effector_connection_statuses = self.misc_msg.arm_end_effector_connection_statuses
+        self.previous_chassis_pan_tilt_connection_status = self.misc_msg.chassis_pan_tilt_connection_status
+        self.previous_sample_containment_connection_status = self.misc_msg.sample_containment_connection_status
+        self.previous_tower_connection_status = self.misc_msg.tower_connection_status
+
+    def run(self):
+        r = rospy.Rate(10)  # 10Hz
+        while not rospy.is_shutdown():
+            # Update all message values
+            self.__pull_new_message_values()
+
+            # Camera Check -- if current value is now different from previous value,
+            # update the previous value for cameras and publish to listening Subscribers
+            if (self.camera_msg.camera_zed != self.previous_camera_zed or
+                    self.camera_msg.camera_undercarriage != self.previous_camera_undercarriage or
+                    self.camera_msg.camera_chassis != self.previous_camera_chassis or
+                    self.camera_msg.camera_main_navigation != self.previous_camera_main_navigation):
+                self.__set_previous_camera_values()
+                self.pub_camera.publish(self.camera_msg)
+
+            # Placeholder Jetson Info Check
+            if (self.jetson_msg.jetson_CPU != self.previous_jetson_CPU or
+                    self.jetson_msg.jetson_RAM != self.previous_jetson_RAM or
+                    self.jetson_msg.jetson_EMMC != self.previous_jetson_EMMC or
+                    self.jetson_msg.jetson_NVME_SSD != self.previous_jetson_NVME_SSD or
+                    self.jetson_msg.jetson_GPU_temp != self.previous_jetson_GPU_temp):
+                self.__set_previous_jetson_values()
+                self.pub_jetson.publish(self.jetson_msg)
+
+            # Placeholder FrSky Controller Check
+            if self.FrSky_msg.FrSky_controller_connection_status != self.previous_FrSky_controller_connection_status:
+                self.__set_previous_frsky_value()
+                self.pub_FrSky.publish(self.FrSky_msg)
+
+            # Placeholder bogie status check
+            if (self.bogie_msg.bogie_connection_1 != self.previous_bogie_connection_1 or
+                    self.bogie_msg.bogie_connection_2 != self.previous_bogie_connection_2 or
+                    self.bogie_msg.bogie_connection_3 != self.previous_bogie_connection_3):
+                self.__set_previous_bogie_values()
+                self.pub_bogie.publish(self.bogie_msg)
+
+            # Placeholder GPS Information check
+            if (self.GPS_msg.UTC_GPS_time != self.previous_UTC_GPS_time or
+                    self.GPS_msg.UTC_GPS_time != self.previous_GPS_connection_status):
+                self.__set_previous_gps_values()
+                self.pub_GPS.publish(self.GPS_msg)
+
+            # Placeholder Misc Information check
+            if (self.misc_msg.arm_connection_status !=
+                    self.previous_arm_connection_status or
+                    self.misc_msg.arm_end_effector_connection_statuses !=
+                    self.previous_arm_end_effector_connection_statuses or
+                    self.misc_msg.chassis_pan_tilt_connection_status !=
+                    self.previous_chassis_pan_tilt_connection_status or
+                    self.misc_msg.sample_containment_connection_status !=
+                    self.previous_sample_containment_connection_status or
+                    self.misc_msg.tower_connection_status !=
+                    self.previous_tower_connection_status):
+                self.__set_previous_misc_values()
+                self.pub_Misc.publish(self.misc_msg)
+
+            # rospy.loginfo(self.msg)
+            r.sleep()
+
+
+if __name__ == '__main__':
+    system_status = SystemStatuses()
+    system_status.run()