dummy_vicon.py

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#!/usr/bin/env python
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import roslib
roslib.load_manifest('vicon_mocap') # change this to your package name
import rospy
from starmac_roslib.timers import Timer
# Message imports:
# Make sure corresponding packages are listed as dependencies in package manifest!
from geometry_msgs.msg import TransformStamped
from tf.broadcaster import TransformBroadcaster

class DummyViconNode(object):
    """
    Example python node including reading parameters, publishers and subscribers, and timer.
    """
    def __init__(self):
        # Remember that init_node hasn't been called yet so only do stuff here that
        # doesn't require node handles etc.
        pass

    def start(self):
        rospy.init_node('python_node_example')
        self.tfb = TransformBroadcaster()
        self.init_params()
        self.init_publishers()
        self.init_timers()
        rospy.spin()
        
    def init_params(self):
        pass
        self.tf_ref_frame_id = rospy.get_param("~tf_ref_frame_id", "/enu")
        self.tf_tracked_frame_id = rospy.get_param("~tf_tracked_frame_id", "/pelican1/flyer_vicon")
        self.dummy_position = rospy.get_param("~dummy_position", (0.0, -0.3593, -0.05))
        self.dummy_orientation = rospy.get_param("~dummy_orientation", (0.5, 0.5, -0.5, 0.5)) # xyzw
        self.enable_tf_broadcast = rospy.get_param("~enable_tf_broadcast", False)
        
#        self.param_two = rospy.get_param("~param_two", False)
    
    def init_publishers(self):
        self.pub = rospy.Publisher('vicon_recv_direct/output', TransformStamped)
        
    def init_timers(self):
        self.vicon_timer = Timer(rospy.Duration(1/120.0), self.vicon_timer_callback) # Call at 10 Hz
                                          
    def vicon_timer_callback(self, event):
        msg = TransformStamped()
        msg.header.stamp = rospy.Time.now()
        msg.header.frame_id = self.tf_ref_frame_id
        msg.child_frame_id = self.tf_tracked_frame_id
        msg.transform.translation.x, msg.transform.translation.y, msg.transform.translation.z = self.dummy_position
        (msg.transform.rotation.x, msg.transform.rotation.y, 
         msg.transform.rotation.z, msg.transform.rotation.w) = self.dummy_orientation
        self.pub.publish(msg)
        if self.enable_tf_broadcast:
            self.tfb.sendTransform(self.dummy_position, self.dummy_orientation, 
                                   rospy.Time.now(), self.tf_tracked_frame_id, self.tf_ref_frame_id)
    

        
        
if __name__ == "__main__":
    self = DummyViconNode()
    self.start()