example2.py
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00001 #!/usr/bin/env python
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00034 # Revision $Id: talker.py 5263 2009-07-17 23:30:38Z sfkwc $
00035 
00036 ## Simple talker demo that published std_msgs/Strings messages
00037 ## to the 'chatter' topic
00038 
00039 import roslib; roslib.load_manifest('app_manager_tutorial')
00040 
00041 import rospy
00042 from std_msgs.msg import String
00043 from std_msgs.msg import Int32
00044 from std_msgs.msg import Float32
00045 
00046 class Example(object):
00047     def __init__(self):
00048         rospy.init_node('example2')
00049         self.foo = 0.0
00050         self.bar = 0
00051 
00052         self.sub_foo = rospy.Subscriber('tiger', Float32, self.foo_cb)
00053         self.pub_baz = rospy.Publisher('lion', String)
00054 
00055         # Internal sub
00056         self.sub_bar = rospy.Subscriber('bar', Int32, self.bar_cb)
00057 
00058 
00059         r = rospy.Rate(10) # 10hz
00060         while not rospy.is_shutdown():
00061             s = "%s -- %s"%(self.foo, self.bar)
00062             self.pub_baz.publish(s)
00063             r.sleep()
00064 
00065     def foo_cb(self, foo):
00066         self.foo = foo.data
00067 
00068     def bar_cb(self, bar):
00069         self.bar = bar.data
00070 
00071         
00072 if __name__ == '__main__':
00073     try:
00074         Example()
00075     except rospy.ROSInterruptException: pass


app_manager_tutorial
Author(s): Jeremy Leibs
autogenerated on Mon Dec 2 2013 13:04:02