subtopic_forwarder.py
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00001 #! /usr/bin/python
00002 #***********************************************************
00003 #* Software License Agreement (BSD License)
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00005 #*  Copyright (c) 2009, Willow Garage, Inc.
00006 #*  All rights reserved.
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00008 #*  Redistribution and use in source and binary forms, with or without
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00012 #*   * Redistributions of source code must retain the above copyright
00013 #*     notice, this list of conditions and the following disclaimer.
00014 #*   * Redistributions in binary form must reproduce the above
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00022 #*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 #* Author: Eitan Marder-Eppstein
00036 #***********************************************************
00037 PKG = 'move_base'
00038 NAME = 'subtopic_forwarder'
00039 
00040 import roslib; roslib.load_manifest(PKG)
00041 
00042 import rospy
00043 import sys
00044 import rostopic
00045 from std_msgs.msg import *
00046 from roslib.message import Message
00047 
00048 class SubtopicForwarder(object):
00049   def __init__(self, topic, remapped_topic):
00050     topic_class, real_topic, msg_eval = rostopic.get_topic_class(topic)
00051     try:
00052       rospy.Subscriber(real_topic, topic_class, self.callback, (remapped_topic, msg_eval))
00053     except ValueError: pass
00054 
00055   def callback(self, data, args):
00056     remapped_topic, msg_eval = args
00057 
00058     #make sure to check if we have a subtopic or just a topic
00059     remapped_msg = msg_eval != None and msg_eval(data) or data
00060 
00061     if not issubclass(type(remapped_msg), Message):
00062       rospy.logerr("Sorry, forwarding primitive types, in this case a %s, is not supported by this tool :(", type(remapped_msg))
00063       return 
00064         
00065     remap_pub = rospy.Publisher(remapped_topic, type(remapped_msg))
00066     remap_pub.publish(remapped_msg)
00067 
00068 if __name__ == '__main__':
00069   if len(sys.argv) < 3:
00070     print "You are uinsg this tool wrong, usage is:" 
00071     print "subtopic_forwarder [source_topic] [destination_topic]"
00072     sys.exit(-1)
00073 
00074   rospy.init_node(NAME, anonymous=True)
00075 
00076   topic = rospy.resolve_name(sys.argv[1])
00077   remapped_topic = rospy.resolve_name(sys.argv[2])
00078   sf = SubtopicForwarder(topic, remapped_topic)
00079 
00080   rospy.spin()


move_base
Author(s): Eitan Marder-Eppstein
autogenerated on Sat Dec 28 2013 17:14:19