warner.py

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#! /usr/bin/python
#***********************************************************
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#* Author: Eitan Marder-Eppstein
#***********************************************************
PKG = "move_base"
NAME = "warner"
import roslib; roslib.load_manifest(PKG)

import rospy
import sys

def warner():
  rospy.init_node(NAME, anonymous=True)
  if not rospy.has_param('~string'):
    rospy.logerr("You must fill in the \"~string\" parameter to run this node, otherwise we don't know what to warn about. Exiting")
    sys.exit(-1)

  period = rospy.get_param('~period', 5.0)
  string = rospy.get_param('~string')

  r = rospy.Rate(1.0 / period)
  while not rospy.is_shutdown():
    print "%s" % string #TODO: Take this out after ROS 0.9 is released
    rospy.logwarn("%s", string)
    r.sleep()

if __name__ == '__main__':
  try:
    warner()
  except rospy.ROSInterruptException: pass