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00001 #!/usr/bin/env python 00002 import roslib; roslib.load_manifest('cob_relayboard') 00003 import rospy 00004 import time 00005 import csv 00006 from cob_relayboard.msg import EmergencyStopState 00007 from std_msgs.msg import Float64 00008 #from pr2_msgs.msg import PowerState 00009 00010 #starttime = 1 00011 00012 def callback(data): 00013 writer.writerow( ( round((rospy.Time.now() - starttime).to_sec(),5), data.data) ) 00014 00015 #def timer_callback(data): 00016 # rospy.loginfo(data.data) 00017 00018 def record(): 00019 rospy.init_node('record_voltage') 00020 global starttime 00021 starttime = rospy.Time.now() 00022 00023 global f 00024 global writer 00025 filename = rospy.get_param("/recording_filename") 00026 f = open(filename, 'wt', 1) 00027 writer = csv.writer(f) 00028 00029 rospy.Subscriber("/power_board/voltage", Float64, callback) 00030 00031 00032 while not rospy.is_shutdown(): 00033 #pub_em_stop.publish(msg_em) 00034 #pub_power.publish(msg_power) comes already out of gazebo 00035 rospy.sleep(1.0) 00036 00037 if __name__ == '__main__': 00038 record() 00039