warner.py
Go to the documentation of this file.00001 #! /usr/bin/python 00002 #*********************************************************** 00003 #* Software License Agreement (BSD License) 00004 #* 00005 #* Copyright (c) 2009, Willow Garage, Inc. 00006 #* All rights reserved. 00007 #* 00008 #* Redistribution and use in source and binary forms, with or without 00009 #* modification, are permitted provided that the following conditions 00010 #* are met: 00011 #* 00012 #* * Redistributions of source code must retain the above copyright 00013 #* notice, this list of conditions and the following disclaimer. 00014 #* * Redistributions in binary form must reproduce the above 00015 #* copyright notice, this list of conditions and the following 00016 #* disclaimer in the documentation and/or other materials provided 00017 #* with the distribution. 00018 #* * Neither the name of Willow Garage, Inc. nor the names of its 00019 #* contributors may be used to endorse or promote products derived 00020 #* from this software without specific prior written permission. 00021 #* 00022 #* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 #* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 #* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 #* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 #* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 #* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 #* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 #* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 #* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 #* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 #* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 #* POSSIBILITY OF SUCH DAMAGE. 00034 #* 00035 #* Author: Eitan Marder-Eppstein 00036 #*********************************************************** 00037 PKG = "move_base" 00038 NAME = "warner" 00039 import roslib; roslib.load_manifest(PKG) 00040 00041 import rospy 00042 import sys 00043 00044 def warner(): 00045 rospy.init_node(NAME, anonymous=True) 00046 if not rospy.has_param('~string'): 00047 rospy.logerr("You must fill in the \"~string\" parameter to run this node, otherwise we don't know what to warn about. Exiting") 00048 sys.exit(-1) 00049 00050 period = rospy.get_param('~period', 5.0) 00051 string = rospy.get_param('~string') 00052 00053 r = rospy.Rate(1.0 / period) 00054 while not rospy.is_shutdown(): 00055 print "%s" % string #TODO: Take this out after ROS 0.9 is released 00056 rospy.logwarn("%s", string) 00057 r.sleep() 00058 00059 if __name__ == '__main__': 00060 try: 00061 warner() 00062 except rospy.ROSInterruptException: pass