record_topic.py
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00001 #!/usr/bin/env python
00002 
00003 #################################################################
00004 ##\file
00005 #
00006 # \note
00007 # Copyright (c) 2013 \n
00008 # Fraunhofer Institute for Manufacturing Engineering
00009 # and Automation (IPA) \n\n
00010 #
00011 #################################################################
00012 #
00013 # \note
00014 # Project name: Care-O-bot Research
00015 # \note
00016 # ROS package name: 
00017 #
00018 # \author
00019 # Author: Thiago de Freitas Oliveira Araujo, 
00020 # email:thiago.de.freitas.oliveira.araujo@ipa.fhg.de
00021 # \author
00022 # Supervised by: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de
00023 #
00024 # \date Date of creation: January 2013
00025 #
00026 # \brief
00027 # This module records topics according to triggering events
00028 #
00029 #################################################################
00030 #
00031 # Redistribution and use in source and binary forms, with or without
00032 # modification, are permitted provided that the following conditions are met:
00033 #
00034 # - Redistributions of source code must retain the above copyright
00035 # notice, this list of conditions and the following disclaimer. \n
00036 # - Redistributions in binary form must reproduce the above copyright
00037 # notice, this list of conditions and the following disclaimer in the
00038 # documentation and/or other materials provided with the distribution. \n
00039 # - Neither the name of the Fraunhofer Institute for Manufacturing
00040 # Engineering and Automation (IPA) nor the names of its
00041 # contributors may be used to endorse or promote products derived from
00042 # this software without specific prior written permission. \n
00043 #
00044 # This program is free software: you can redistribute it and/or modify
00045 # it under the terms of the GNU Lesser General Public License LGPL as
00046 # published by the Free Software Foundation, either version 3 of the
00047 # License, or (at your option) any later version.
00048 #
00049 # This program is distributed in the hope that it will be useful,
00050 # but WITHOUT ANY WARRANTY; without even the implied warranty of
00051 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
00052 # GNU Lesser General Public License LGPL for more details.
00053 #
00054 # You should have received a copy of the GNU Lesser General Public
00055 # License LGPL along with this program.
00056 # If not, see < http://www.gnu.org/licenses/>.
00057 #
00058 #################################################################
00059 
00060 import roslib
00061 PKG = "srs_user_tests"
00062 roslib.load_manifest(PKG)
00063 import rospy
00064 
00065 import rosbag
00066 from std_msgs.msg import Int32, String
00067 
00068 import tf
00069 from tf.msg import *
00070 from tf.transformations import euler_from_quaternion
00071 
00072 from simple_script_server import *
00073 sss = simple_script_server()
00074 
00075 from kinematics_msgs.srv import *
00076 from std_msgs.msg import *
00077 from sensor_msgs.msg import *
00078 from move_base_msgs.msg import *
00079 from visualization_msgs.msg import *
00080 
00081 import math
00082 import rostopic
00083 import time
00084 
00085 import os
00086 import sys, subprocess
00087 
00088 import joint_states_aggregator
00089 import tf_aggregator
00090 
00091 import global_lock
00092 
00093 class record_topic():
00094 
00095     def __init__(self, topic_name, bagfile, continuous=False):
00096           # this gets the topics type using the roslib
00097         the_type = rostopic.get_topic_type(topic_name, blocking=True)[0]
00098 
00099         the_type = the_type.split("/")
00100         the_type[0] += ".msg"
00101         
00102         # this imports the necessary modules and instantiates the necessary object
00103         mod = __import__(the_type[0], fromlist=[the_type[1]])
00104         cls = getattr( mod , the_type[1] )
00105         
00106         self.msg = None
00107         self.topic_name = topic_name 
00108         self.topic_type = cls
00109         self.continuous = continuous
00110         self.bagfile = bagfile
00111 
00112         # this creates the subscriber for the specific topic
00113         rospy.Subscriber(self.topic_name, self.topic_type, self.callback)
00114         global_lock.locked = False
00115         
00116     def lock(self):
00117         global_lock.locked = True
00118         
00119     def unlock(self):
00120         global_lock.locked = False     
00121         
00122     def callback(self, msg):
00123         self.msg = msg
00124         if self.continuous:
00125             self.record()
00126     
00127     def record(self):
00128         if(self.msg!=None):
00129             if not global_lock.locked:
00130                 try:
00131                     if(global_lock.active_bag):
00132                         self.lock()
00133                         self.bagfile.write(self.topic_name, self.msg)
00134                         self.unlock()
00135                 except KeyError, e:
00136                     rospy.loginfo(self.msg)
00137         
00138 if __name__ == "__main__":
00139 
00140         rospy.init_node('record_topic')
00141         topics_list = ["/tf", "/collision_velocity_filter/velocity_limited_marker", "/joint_states"]
00142         topics_c = []
00143         
00144         for top in topics_list:
00145             topic_r = record_topic(top)
00146             
00147             topics_c.append(topic_r)
00148         
00149         while not rospy.is_shutdown():
00150         
00151             for tops_c in topics_c:
00152                 rospy.loginfo(tops_c.msg)
00153             rospy.sleep(2)
00154         


srs_user_tests
Author(s): SRS team
autogenerated on Mon Oct 6 2014 08:53:11