generate_goal_list.py

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#! /usr/bin/python
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#* Author: Eitan Marder-Eppstein
#***********************************************************
PKG = 'move_base' # this package name
import roslib; roslib.load_manifest(PKG)

import rospy
from geometry_msgs.msg import PoseStamped

def callback(data):
    print "[(%.3f %.3f %.3f), (%.3f, %.3f, %.3f, %.3f)]," % (data.pose.position.x, data.pose.position.y, data.pose.position.z, data.pose.orientation.x, data.pose.orientation.y, data.pose.orientation.z, data.pose.orientation.w)
    
def listener():

    # in ROS, nodes are unique named. If two nodes with the same
    # node are launched, the previous one is kicked off. The 
    # anonymous=True flag means that rospy will choose a unique
    # name for our 'talker' node so that multiple talkers can
    # run simultaenously.
    rospy.init_node('listener', anonymous=True)

    rospy.Subscriber("move_base_simple/goal", PoseStamped, callback)

    # spin() simply keeps python from exiting until this node is stopped
    rospy.spin()
        
if __name__ == '__main__':
    listener()