Merge pull request #1059 from garaemon/check-run-id

[jsk_topic_tools] check /run_id param to know roscore is restarted or…

jsk_topic_tools/src/jsk_topic_tools/master_util.py

@@ -1,19 +1,32 @@
 import rospy
 import re
 import os
+
+previous_run_id = None
+
 def isMasterAlive():
     """
     return True if master alive and return False if
     master is not alive
     """
+    global previous_run_id
     try:
         # first check the host is available
         master = rospy.get_master()
         master_host = re.search('http://([a-zA-Z0-9\-_]*):', master.getUri()[2]).groups(1)[0]
         response = os.system("ping -W 10 -c 1 " + master_host + " > /dev/null")
         if response != 0:
+            print "master machine looks down"
             return False
         master.getSystemState()
+        run_id = rospy.get_param("/run_id")
+
+        if not previous_run_id:
+            previous_run_id = run_id
+        if run_id != previous_run_id:
+            print "run_id is not same"
+            previous_run_id = run_id
+            return False
         return True
     except Exception, e:
         return False