warner.py
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00001 #! /usr/bin/python
00002 #***********************************************************
00003 #* Software License Agreement (BSD License)
00004 #*
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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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
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00021 #*
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 = "warner"
00039 import roslib; roslib.load_manifest(PKG)
00040 
00041 import rospy
00042 import sys
00043 
00044 def warner():
00045   rospy.init_node(NAME, anonymous=True)
00046   if not rospy.has_param('~string'):
00047     rospy.logerr("You must fill in the \"~string\" parameter to run this node, otherwise we don't know what to warn about. Exiting")
00048     sys.exit(-1)
00049 
00050   period = rospy.get_param('~period', 5.0)
00051   string = rospy.get_param('~string')
00052 
00053   r = rospy.Rate(1.0 / period)
00054   while not rospy.is_shutdown():
00055     print "%s" % string #TODO: Take this out after ROS 0.9 is released
00056     rospy.logwarn("%s", string)
00057     r.sleep()
00058 
00059 if __name__ == '__main__':
00060   try:
00061     warner()
00062   except rospy.ROSInterruptException: pass


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