text: #!/usr/bin/env python
  # Software License Agreement (BSD License)
  #
  # Copyright (c) 2009, Willow Garage, Inc.
  # All rights reserved.
  #
  # Redistribution and use in source and binary forms, with or without
  # modification, are permitted provided that the following conditions
  # are met:
  #
  #  * Redistributions of source code must retain the above copyright
  #    notice, this list of conditions and the following disclaimer.
  #  * Redistributions in binary form must reproduce the above
  #    copyright notice, this list of conditions and the following
  #    disclaimer in the documentation and/or other materials provided
  #    with the distribution.
  #  * Neither the name of the Willow Garage nor the names of its
  #    contributors may be used to endorse or promote products derived
  #    from this software without specific prior written permission.
  #
  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  # POSSIBILITY OF SUCH DAMAGE.
  #
  
  ##\author Kevin Watts
  
  ##\brief Publishes messages for aggregator testing of expected items.
  
  PKG = 'diagnostic_aggregator'
  
  import roslib; roslib.load_manifest(PKG)
  
  
  import rospy
  from time import sleep
  
  from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
  
  if __name__ == '__main__':
      rospy.init_node('diag_pub')
      pub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=10)
      
      start_time = rospy.get_time()
      
      while not rospy.is_shutdown():
          array = DiagnosticArray()
          array.status = [
              # GenericAnalyzer my_path
              DiagnosticStatus(0, 'expected1', 'OK', '', []),
              DiagnosticStatus(1, 'expected2', 'OK', '', []),
              DiagnosticStatus(2, 'expected3', 'OK', '', []),
              
              DiagnosticStatus(0, 'startswith1', 'OK', '', []),
              DiagnosticStatus(0, 'startswith2', 'OK', '', []),
              DiagnosticStatus(1, 'startswith3', 'OK', '', []),
              
              # OtherAnalyzer for Other
              DiagnosticStatus(2, 'other2', 'OK', '', []),
              DiagnosticStatus(0, 'other3', 'OK', '', [])]
          
          array.header.stamp = rospy.get_rostime()
  
          if rospy.get_time() - start_time < 5:
              # Shouldn't disappear
              array.status.append(DiagnosticStatus(0, 'expected4', 'I will be stale', '', []))
              array.status.append(DiagnosticStatus(0, 'expected5', 'I will be stale', '', []))
  
              # Should disappear
              array.status.append(DiagnosticStatus(2, 'other1', 'Error', '', [])) 
  
          pub.publish(array)
          sleep(1)
  