jsk_rviz_plugins: capture_rviz

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00001 #!/usr/bin/env python
00002 
00003 import rospy
00004 from jsk_rviz_plugins.msg import OverlayText
00005 from std_msgs.msg import Int32
00006 
00007 
00008 def callback(msg):
00009     global pub
00010     count = msg.data
00011     text = OverlayText()
00012     color = (52, 152, 219)
00013     text.fg_color.r = color[0] / 255.0
00014     text.fg_color.g = color[1] / 255.0
00015     text.fg_color.b = color[2] / 255.0
00016     text.fg_color.a = 1.0
00017     text.bg_color.a = 0.0
00018     text.text = "Samples: %d" % (count)
00019     text.width = 500
00020     text.height = 100
00021     text.left = 10
00022     text.top = 10
00023     text.text_size = 30
00024     pub.publish(text)
00025 
00026 def main():
00027     global pub
00028     pub = rospy.Publisher("capture_text", OverlayText)
00029     sub = rospy.Subscriber("capture_count", Int32, callback)
00030     rospy.spin()
00031 
00032 if __name__ == "__main__":
00033     rospy.init_node("capture_rviz_text")
00034     main()