__init__.py
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00001 # Software License Agreement (BSD License)
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00003 # Copyright (c) 2010, Willow Garage, Inc.
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00006 # Redistribution and use in source and binary forms, with or without
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00010 #  * Redistributions of source code must retain the above copyright
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00033 # Revision $Id: __init__.py 11149 2010-09-18 04:17:59Z kwc $
00034 
00035 import roslib; roslib.load_manifest('rosh_common')
00036 
00037 import rosh.plugin
00038 from rosh_common.action import Actions
00039 from rosh_common.camera import Cameras
00040 
00041 _loaded_symbols = None
00042 
00043 PLUGIN_CAMERAS_SHOW = 'plugin-rosh_common-cameras_show'
00044 
00045 def rosh_plugin_load(plugin_context, globals_=None):
00046     """
00047     Initialize rosh_common plugin
00048     """
00049     global _loaded_symbols
00050     if rosh.plugin.reentrant_load(_loaded_symbols, globals_):
00051         return
00052 
00053     cameras = Cameras(plugin_context.ctx, plugin_context.rosh_lock)
00054     _loaded_symbols = {
00055         'actions': Actions(plugin_context.ctx, plugin_context.rosh_lock),
00056         'cameras': Cameras(plugin_context.ctx, plugin_context.rosh_lock)
00057         }
00058     rosh.plugin.globals_load(plugin_context, globals_, _loaded_symbols)
00059 
00060     plugin = rosh.plugin.PluginData()
00061     plugin.add_api(PLUGIN_CAMERAS_SHOW, cameras._register_show_handler)
00062     #TODO: register nav_msgs handler
00063     #plugin.add_handler()
00064     return plugin
00065 
00066 
00067 #TODO: convert to plugin
00068 def show_occ_grid(ns_obj):
00069     # internal py_image_view can convert occ grids to images
00070     mod = os.path.join(get_pkg_dir('rosh'), 'src', 'rosh', 'impl', 'py_image_view.py')
00071     #TODO: convert to launch instead
00072     rosh.impl.proc.run(ns_obj._config, ['python', mod, '--map', '-t', ns_obj._name])
00073     print "running py_image_viewer, this may be slow over a wireless network"
00074 


rosh_common
Author(s): Ken Conley
autogenerated on Mon Dec 2 2013 13:19:01