old_contents: #!/usr/bin/env python
  from check_common import *
  
  def check_vacuum(arm):
      topic_name = "/vacuum_gripper/limb/"+arm
      print HEADER+BOLD+"=== Check " +topic_name + " ===" +ENDC
      print INFO,"Start " + arm + " Vacuum for 5 seconds..."
      pub = rospy.Publisher(topic_name, Bool, queue_size=1)
      msg = Bool()
      msg.data = True
      pub.publish(msg)
      time.sleep(5)
  
      print INFO,"Stop " + arm + " Vacuum"
      msg = Bool()
      msg.data = False
      pub.publish(msg)
  
  if __name__ == "__main__":
  
      print HEADER+"= Check Start APC Setup =", ENDC
  
      index_print("== Check MASTER ==")
      check_rosmaster()
  
      rospy.init_node("check_state")
  
      index_print("== Check NODES ==")
      check_node("/baxter_joint_trajectory", True)
      check_node("/robot_state_publisher", True)
      check_node("/kinect2_bridge", True)
      check_node("/kinect2_points_xyzrgb_highres", True)
  
      index_print("== Check TOPICS ==")
      check_topic("/robot/state", True, 3)
      check_topic("/vacuum_gripper/limb/left/state", True, 3)
      check_topic("/vacuum_gripper/limb/right/state", True, 3)
      check_topic("/left_hand/output", True, 3)
      check_topic("/right_hand/output", True, 3)
  
      index_print("== Check PARAMETERS ==")
  
      index_print("== Check OTHER ==")
      check_vacuum("left")
      check_vacuum("right")
  
new_contents: #!/usr/bin/env python
  from check_common import *
  
  def check_vacuum(arm):
      topic_name = "/vacuum_gripper/limb/"+arm
      print HEADER+BOLD+"=== Check " +topic_name + " ===" +ENDC
      pub = rospy.Publisher(topic_name, Bool, queue_size=1)
      msg = Bool()
      msg.data = True
      time.sleep(3)
      print INFO,"Start " + arm + " Vacuum for 5 seconds..."
      pub.publish(msg)
      time.sleep(5)
  
      print INFO,"Stop " + arm + " Vacuum"
      msg = Bool()
      msg.data = False
      pub.publish(msg)
  
  if __name__ == "__main__":
  
      print HEADER+"= Check Start APC Setup =", ENDC
  
      index_print("== Check MASTER ==")
      check_rosmaster()
  
      rospy.init_node("check_state")
  
      index_print("== Check NODES ==")
      check_node("/baxter_joint_trajectory", True)
      check_node("/robot_state_publisher", True)
      check_node("/kinect2_bridge", True)
      check_node("/kinect2_points_xyzrgb_highres", True)
  
      index_print("== Check TOPICS ==")
      check_topic("/robot/state", True, 3)
      check_topic("/vacuum_gripper/limb/left/state", True, 3)
      check_topic("/vacuum_gripper/limb/right/state", True, 3)
      check_topic("/left_hand/output", True, 3)
      check_topic("/right_hand/output", True, 3)
  
      index_print("== Check PARAMETERS ==")
  
      index_print("== Check OTHER ==")
      check_vacuum("left")
      check_vacuum("right")
  
subject: fix check_after_setup