Go to the documentation of this file.00001
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00008
00009 import roslib
00010 roslib.load_manifest('footstep_planner')
00011 import rospy
00012 import geometry_msgs.msg as geo_msgs
00013
00014
00015 def callback(pose, pub):
00016 newpose = pose
00017 newpose.pose.pose.position.z += 0.315
00018 pub.publish(newpose)
00019
00020
00021 def listener():
00022 rospy.init_node('corrected_initialpose')
00023 pub = rospy.Publisher('nao_corrected_initialpose',
00024 geo_msgs.PoseWithCovarianceStamped)
00025 rospy.Subscriber("initialpose", geo_msgs.PoseWithCovarianceStamped,
00026 callback, pub)
00027 rospy.spin()
00028
00029
00030 if __name__ == '__main__':
00031 try:
00032 listener()
00033 except rospy.ROSInterruptException:
00034 pass