generate_goal_list.py
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00001 #! /usr/bin/python
00002 #***********************************************************
00003 #* Software License Agreement (BSD License)
00004 #*
00005 #*  Copyright (c) 2009, Willow Garage, Inc.
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00008 #*  Redistribution and use in source and binary forms, with or without
00009 #*  modification, are permitted provided that the following conditions
00010 #*  are met:
00011 #*
00012 #*   * Redistributions of source code must retain the above copyright
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00014 #*   * Redistributions in binary form must reproduce the above
00015 #*     copyright notice, this list of conditions and the following
00016 #*     disclaimer in the documentation and/or other materials provided
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00018 #*   * Neither the name of Willow Garage, Inc. nor the names of its
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00020 #*     from this software without specific prior written permission.
00021 #*
00022 #*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 #*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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00035 #* Author: Eitan Marder-Eppstein
00036 #***********************************************************
00037 PKG = 'move_base' # this package name
00038 import roslib; roslib.load_manifest(PKG)
00039 
00040 import rospy
00041 from geometry_msgs.msg import PoseStamped
00042 
00043 def callback(data):
00044     print "[(%.3f %.3f %.3f), (%.3f, %.3f, %.3f, %.3f)]," % (data.pose.position.x, data.pose.position.y, data.pose.position.z, data.pose.orientation.x, data.pose.orientation.y, data.pose.orientation.z, data.pose.orientation.w)
00045     
00046 def listener():
00047 
00048     # in ROS, nodes are unique named. If two nodes with the same
00049     # node are launched, the previous one is kicked off. The 
00050     # anonymous=True flag means that rospy will choose a unique
00051     # name for our 'talker' node so that multiple talkers can
00052     # run simultaenously.
00053     rospy.init_node('listener', anonymous=True)
00054 
00055     rospy.Subscriber("move_base_simple/goal", PoseStamped, callback)
00056 
00057     # spin() simply keeps python from exiting until this node is stopped
00058     rospy.spin()
00059         
00060 if __name__ == '__main__':
00061     listener()


megatree_cpp
Author(s): Stuart Glaser
autogenerated on Thu Nov 28 2013 11:30:34