channelecho.py
Go to the documentation of this file.00001 #! /usr/bin/env python 00002 # Copyright (c) 2009, Willow Garage, Inc. 00003 # All rights reserved. 00004 # 00005 # Redistribution and use in source and binary forms, with or without 00006 # modification, are permitted provided that the following conditions are met: 00007 # 00008 # * Redistributions of source code must retain the above copyright 00009 # notice, this list of conditions and the following disclaimer. 00010 # * Redistributions in binary form must reproduce the above copyright 00011 # notice, this list of conditions and the following disclaimer in the 00012 # documentation and/or other materials provided with the distribution. 00013 # * Neither the name of the Willow Garage, Inc. nor the names of its 00014 # contributors may be used to endorse or promote products derived from 00015 # this software without specific prior written permission. 00016 # 00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 # POSSIBILITY OF SUCH DAMAGE. 00028 00029 # Author: Stuart Glaser 00030 00031 import roslib; roslib.load_manifest('realtime_tools') 00032 import rospy 00033 from realtime_tools.msg import BufferedData 00034 00035 first_datum = True 00036 def dataCB(msg): 00037 global first_datum 00038 if first_datum: 00039 first_datum = False 00040 for i in range(len(msg.channels)): 00041 print "# %2d: %s" % ((i+1), msg.channels[i].name) 00042 for i in range(len(msg.channels[0].values)): 00043 print "%f" % msg.channels[0].values[i], 00044 for c in msg.channels[1:]: 00045 print ", %f" % c.values[i], 00046 print 00047 00048 def main(): 00049 topic = rospy.myargv()[1] 00050 00051 rospy.init_node("channelecho", anonymous=True) 00052 rospy.Subscriber(topic, BufferedData, dataCB) 00053 rospy.spin() 00054 00055 00056 00057 if __name__ == '__main__': main()