00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of Willow Garage, Inc. nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 # Revision $Id: gossipbot 3529 2009-01-23 22:35:53Z sfkwc $ 00035 00036 ## listener_connection_header looks at the connection header 00037 ## from the received message to determine who it is talking to. 00038 00039 PKG = 'rospy_tutorials' 00040 import roslib; roslib.load_manifest(PKG) 00041 00042 import sys 00043 00044 import rospy 00045 from std_msgs.msg import String 00046 00047 NAME = 'listener_connection_header' 00048 00049 def callback(data): 00050 chatter = data.data 00051 if 'callerid' in data._connection_header: 00052 who = data._connection_header['callerid'] 00053 else: 00054 who = 'unknown' 00055 if 'cookies' in data._connection_header: 00056 print "%s just offered me %s cookies"%(who, data._connection_header['cookies']) 00057 else: 00058 print "I just heard %s from %s"%(chatter, who) 00059 00060 def listener_header(): 00061 rospy.Subscriber("chatter", String, callback) 00062 rospy.init_node(NAME, anonymous=True) 00063 rospy.spin() 00064 00065 if __name__ == '__main__': 00066 try: 00067 listener_header() 00068 except KeyboardInterrupt, e: 00069 pass 00070 print "exiting"