subtopic_forwarder_node.py

Go to the documentation of this file.

#! /usr/bin/python
#***********************************************************
#* Software License Agreement (BSD License)
#*
#*  Copyright (c) 2009, Willow Garage, Inc.
#*  All rights reserved.
#*
#*  Redistribution and use in source and binary forms, with or without
#*  modification, are permitted provided that the following conditions
#*  are met:
#*
#*   * Redistributions of source code must retain the above copyright
#*     notice, this list of conditions and the following disclaimer.
#*   * Redistributions in binary form must reproduce the above
#*     copyright notice, this list of conditions and the following
#*     disclaimer in the documentation and/or other materials provided
#*     with the distribution.
#*   * Neither the name of Willow Garage, Inc. nor the names of its
#*     contributors may be used to endorse or promote products derived
#*     from this software without specific prior written permission.
#*
#*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
#*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
#*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
#*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
#*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
#*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
#*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
#*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
#*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
#*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
#*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
#*  POSSIBILITY OF SUCH DAMAGE.
#* 
#* Author: Eitan Marder-Eppstein
#***********************************************************
PKG = 'move_base'
NAME = 'subtopic_forwarder_node'

import roslib; roslib.load_manifest(PKG)

import rospy
import sys

from subtopic_forwarder import SubtopicForwarder
if __name__ == '__main__':
  rospy.init_node(NAME, anonymous=True)

  if not rospy.has_param("~source_topic") or not rospy.has_param("~destination_topic"):
    rospy.logerr("You must specify both the \"~source_topic\" and \"~destination_topic\" parameters to run this node and you have not. Exiting")
    sys.exit(-1)

  topic = rospy.resolve_name(rospy.get_param('~source_topic'))
  remapped_topic = rospy.resolve_name(rospy.get_param('~destination_topic'))

  sf = SubtopicForwarder(topic, remapped_topic)

  rospy.spin()

---

parallel_move_base
Author(s): Eitan Marder-Eppstein, Mike Phillips
autogenerated on Fri Jan 11 09:12:30 2013