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00001 # Software License Agreement (BSD License) 00002 # 00003 # Copyright (c) 2010, Willow Garage, Inc. 00004 # All rights reserved. 00005 # 00006 # Redistribution and use in source and binary forms, with or without 00007 # modification, are permitted provided that the following conditions 00008 # are met: 00009 # 00010 # * Redistributions of source code must retain the above copyright 00011 # notice, this list of conditions and the following disclaimer. 00012 # * Redistributions in binary form must reproduce the above 00013 # copyright notice, this list of conditions and the following 00014 # disclaimer in the documentation and/or other materials provided 00015 # with the distribution. 00016 # * Neither the name of Willow Garage, Inc. nor the names of its 00017 # contributors may be used to endorse or promote products derived 00018 # from this software without specific prior written permission. 00019 # 00020 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 # POSSIBILITY OF SUCH DAMAGE. 00032 # 00033 # Revision $Id: __init__.py 11372 2010-10-01 20:52:44Z kwc $ 00034 00035 """ 00036 rosh_base is a meta-plugin that loads in plugins contained in the 00037 'base' variant of ROS. 00038 """ 00039 00040 import roslib; roslib.load_manifest('rosh_visualization') 00041 00042 import os 00043 00044 import roslib.names 00045 00046 import rosh.impl.proc 00047 import rosh.plugin 00048 import rosh_common 00049 00050 def rosh_plugin_load(plugin_context, globals_=None): 00051 """ 00052 Initialize rosh_common plugin 00053 """ 00054 # make sure common is loaded first 00055 rosh.plugin.load_plugin('rosh_common', plugin_context, globals_=globals_) 00056 00057 plugin = rosh.plugin.PluginData() 00058 plugin.add_handler(rosh_common.PLUGIN_CAMERAS_SHOW, show_camera_rviz_image_view) 00059 return plugin 00060 00061 def show_camera_rviz_image_view(ns_obj): 00062 """ 00063 show camera handler that uses rviz's image_view. 00064 00065 @return: image viewer node (if single camera), or tuple of image viewer nodes (if stereo) 00066 @rtype: Node or (Node, Node) 00067 """ 00068 #NOTE: we avoid the non-rviz image_view at all costs because it is 00069 #ill-behaved and doesn't perform as well. 00070 00071 if ns_obj._cam_info is None: 00072 # check to see if it's stereo 00073 l = ns_obj._getAttributeNames() 00074 if 'left' in l and 'right' in l: 00075 n1 = show_camera_rviz_image_view(ns_obj.left) 00076 n2 = show_camera_rviz_image_view(ns_obj.right) 00077 return n1, n2 00078 else: 00079 # NOTE: this will block 00080 try: 00081 ns_obj._init_cam_info() 00082 except: 00083 print >> sys.stderr, "%s does not appear to be a camera topic"%ns_obj._name 00084 return None 00085 00086 # retrieve ctx object 00087 ctx = ns_obj._config.ctx 00088 topic = roslib.names.ns_join(ns_obj._name, 'image_raw') 00089 node = ctx.launch('rviz', 'image_view', remap={'image': topic}) 00090 print "running rviz image_viewer, this may be slow over a wireless network" 00091 return node