00001 #! /usr/bin/python 00002 #*********************************************************** 00003 #* Software License Agreement (BSD License) 00004 #* 00005 #* Copyright (c) 2009, Willow Garage, Inc. 00006 #* All rights reserved. 00007 #* 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 00013 #* notice, this list of conditions and the following disclaimer. 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 00017 #* with the distribution. 00018 #* * Neither the name of Willow Garage, Inc. nor the names of its 00019 #* contributors may be used to endorse or promote products derived 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 00024 #* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 #* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 #* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 #* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 #* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 #* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 #* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 #* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 #* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 #* POSSIBILITY OF SUCH DAMAGE. 00034 #* 00035 #* Author: Eitan Marder-Eppstein 00036 #*********************************************************** 00037 PKG = 'move_base' 00038 NAME = 'subtopic_forwarder_node' 00039 00040 import roslib; roslib.load_manifest(PKG) 00041 00042 import rospy 00043 import sys 00044 00045 from subtopic_forwarder import SubtopicForwarder 00046 if __name__ == '__main__': 00047 rospy.init_node(NAME, anonymous=True) 00048 00049 if not rospy.has_param("~source_topic") or not rospy.has_param("~destination_topic"): 00050 rospy.logerr("You must specify both the \"~source_topic\" and \"~destination_topic\" parameters to run this node and you have not. Exiting") 00051 sys.exit(-1) 00052 00053 topic = rospy.resolve_name(rospy.get_param('~source_topic')) 00054 remapped_topic = rospy.resolve_name(rospy.get_param('~destination_topic')) 00055 00056 sf = SubtopicForwarder(topic, remapped_topic) 00057 00058 rospy.spin() 00059