$search
00001 #!/usr/bin/python 00002 # Copyright (c) 2008, Willow Garage, Inc. 00003 # All rights reserved. 00004 # 00005 # Redistribution and use in source and binary forms, with or without 00006 # modification, are permitted provided that the following conditions are met: 00007 # 00008 # * Redistributions of source code must retain the above copyright 00009 # notice, this list of conditions and the following disclaimer. 00010 # * Redistributions in binary form must reproduce the above copyright 00011 # notice, this list of conditions and the following disclaimer in the 00012 # documentation and/or other materials provided with the distribution. 00013 # * Neither the name of the Willow Garage, Inc. nor the names of its 00014 # contributors may be used to endorse or promote products derived from 00015 # this software without specific prior written permission. 00016 # 00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 # POSSIBILITY OF SUCH DAMAGE. 00028 00029 # author: Wim Meeussen 00030 00031 import roslib; roslib.load_manifest('tf2_tools') 00032 import rospy 00033 import tf2 00034 import yaml 00035 import subprocess 00036 from tf2_msgs.srv import FrameGraph 00037 import tf2_ros 00038 00039 def main(): 00040 rospy.init_node('view_frames') 00041 00042 # listen to tf for 5 seconds 00043 rospy.loginfo('Listening to tf data during 5 seconds...') 00044 rospy.sleep(0.00001) 00045 buffer = tf2_ros.Buffer() 00046 listener = tf2_ros.TransformListener(buffer) 00047 rospy.sleep(5.0) 00048 00049 rospy.loginfo('Generating graph in frames.pdf file...') 00050 rospy.wait_for_service('~tf2_frames') 00051 srv = rospy.ServiceProxy('~tf2_frames', FrameGraph) 00052 data = yaml.load(srv().frame_yaml) 00053 with open('frames.gv', 'w') as f: 00054 f.write(generate_dot(data)) 00055 subprocess.Popen('dot -Tpdf frames.gv -o frames.pdf'.split(' ')).communicate() 00056 00057 def generate_dot(data): 00058 if len(data) == 0: 00059 return 'digraph G { "No tf data received" }' 00060 00061 dot = 'digraph G {\n' 00062 for el in data: 00063 map = data[el] 00064 dot += '"'+map['parent']+'" -> "'+el+'"' 00065 dot += '[label=" ' 00066 dot += 'Broadcaster: '+map['broadcaster']+'\\n' 00067 dot += 'Average rate: '+str(map['rate'])+'\\n' 00068 dot += 'Buffer length: '+str(map['buffer_length'])+'\\n' 00069 dot += 'Most recent transform: '+str(map['most_recent_transform'])+'\\n' 00070 dot += 'Oldest transform: '+str(map['oldest_transform'])+'\\n' 00071 dot += '"];\n' 00072 if not map['parent'] in data: 00073 root = map['parent'] 00074 dot += 'edge [style=invis];\n' 00075 dot += ' subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";\n' 00076 dot += '"Recorded at time: '+str(rospy.Time.now().to_sec())+'"[ shape=plaintext ] ;\n' 00077 dot += '}->"'+root+'";\n}' 00078 return dot 00079 00080 00081 if __name__ == '__main__': 00082 main()