00001 #!/usr/bin/python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2009, Bosch LLC 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 # author: Sarah Osentoski 00035 00036 import roslib 00037 roslib.load_manifest('tf_lister') 00038 00039 import sys, time 00040 import rospy 00041 import tf 00042 00043 from tf_lister.srv import * 00044 00045 class TfListerService(): 00046 00047 def __init__(self): 00048 self.tf_listener=tf.TransformListener() 00049 time.sleep(5.0) 00050 00051 self.listrequest=rospy.Service('tf_lister/request_list', TfLister, self.servicehandler) 00052 00053 00054 def servicehandler(self, req): 00055 tf_string=self.tf_listener.allFramesAsString() 00056 00057 stringlist=self.parseTfString(tf_string) 00058 00059 return TfListerResponse(stringlist) 00060 00061 def parseTfString(self, tf_string): 00062 #remove the unnecessary text 00063 linesplit=tf_string.splitlines() 00064 frames=[] 00065 for line in linesplit: 00066 spacesplit=line.split() 00067 00068 frames.append(spacesplit[1]) 00069 return frames 00070 00071 00072 if __name__ == '__main__': 00073 rospy.init_node('tf_lister', anonymous=True) 00074 lister=TfListerService() 00075 rospy.spin() 00076