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: listenerpublisher.py 3803 2009-02-11 02:04:39Z rob_wheeler $ 00035 00036 ## Utility node for testing. Listens to chatter and when it gets a 00037 ## message it starts rebroadcasting on 'listenerpublisher'. Unlike 00038 ## the normal listener, listenerpublisher is NOT anonymous. 00039 00040 PKG = 'test_rospy' 00041 NAME = 'listenerpublisher' 00042 import roslib; roslib.load_manifest(PKG) 00043 00044 import sys 00045 import rospy 00046 from std_msgs.msg import * 00047 00048 _publishing = False 00049 _pub = None 00050 def start_publishing(): 00051 global _pub 00052 if _pub is not None: 00053 return 00054 print "registering onto listenerpublisher" 00055 _pub = rospy.Publisher("listenerpublisher", String) 00056 00057 def callback(data): 00058 print rospy.get_caller_id(), "I heard %s"%data.data 00059 start_publishing() 00060 print "publishing", data.data 00061 _pub.publish(String(data.data)) 00062 00063 def listener(): 00064 rospy.init_node(NAME) 00065 rospy.Subscriber("chatter", String, callback) 00066 rospy.spin() 00067 00068 if __name__ == '__main__': 00069 listener()