Merge pull request #8 from husarion/healthcheck_fix

Healthcheck fix

Dockerfile

@@ -43,18 +43,13 @@ COPY --from=pkg-builder /ros2_ws /ros2_ws
 RUN echo $(cat /ros2_ws/src/sllidar_ros2/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt
 
 # Run healthcheck in background
-RUN if [ -f "/ros_entrypoint.sh" ]; then \
-        sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
-        ros2 run healthcheck_pkg healthcheck_node &' \
-        /ros_entrypoint.sh; \
-    else \
-        sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
-        ros2 run healthcheck_pkg healthcheck_node &' \
-        /vulcanexus_entrypoint.sh; \
-    fi
+RUN entrypoint_file=$(if [ -f "/ros_entrypoint.sh" ]; then echo "/ros_entrypoint.sh"; else echo "/vulcanexus_entrypoint.sh"; fi) && \
+    sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
+            ros2 run healthcheck_pkg healthcheck_node &' \
+            $entrypoint_file
 
 COPY ./healthcheck.sh /
-HEALTHCHECK --interval=5s --timeout=2s  --start-period=5s --retries=4 \
+HEALTHCHECK --interval=2s --timeout=1s --start-period=20s --retries=1 \
     CMD ["/healthcheck.sh"]
 
 # Ensure LIDAR stops spinning on container shutdown

healthcheck.cpp

@@ -4,8 +4,8 @@
 
 using namespace std::chrono_literals;
 
-#define LOOP_PERIOD 2s
-#define MSG_VALID_TIME 5s
+#define LOOP_PERIOD 500ms
+#define MSG_VALID_TIME 2s
 
 std::chrono::steady_clock::time_point last_msg_time;
 
@@ -22,7 +22,7 @@ void healthy_check() {
   std::chrono::steady_clock::time_point current_time =
       std::chrono::steady_clock::now();
   std::chrono::duration<double> elapsed_time = current_time - last_msg_time;
-  bool is_msg_valid = elapsed_time.count() < MSG_VALID_TIME.count();
+  bool is_msg_valid = elapsed_time < MSG_VALID_TIME;
 
   if (is_msg_valid) {
     write_health_status("healthy");
@@ -33,7 +33,7 @@ void healthy_check() {
 
 int main(int argc, char *argv[]) {
   rclcpp::init(argc, argv);
-  auto node = rclcpp::Node::make_shared("healthcheck_node");
+  auto node = rclcpp::Node::make_shared("healthcheck_rplidar");
   auto sub = node->create_subscription<sensor_msgs::msg::LaserScan>(
       "scan", rclcpp::SensorDataQoS().keep_last(1), msg_callback);