00001
00002
00003 import rospy
00004 from jsk_rviz_plugins.msg import Pictogram
00005 from random import random
00006 rospy.init_node("pictogram_sample")
00007 p = rospy.Publisher("/pictogram", Pictogram)
00008
00009 r = rospy.Rate(0.1)
00010
00011 pictograms = ["phone",
00012 "mobile",
00013 "mouse",
00014 "address",
00015 "mail",
00016 "paper-plane",
00017 "pencil",
00018 "feather",
00019 "attach",
00020 "inbox",
00021 "reply",
00022 "reply-all",
00023 "forward",
00024 "user",
00025 "users",
00026 "add-user",
00027 "vcard",
00028 "export",
00029 "location",
00030 "map",
00031 "compass",
00032 "direction",
00033 "hair-cross",
00034 "share",
00035 "shareable",
00036 "heart",
00037 "heart-empty",
00038 "star",
00039 "star-empty",
00040 "thumbs-up",
00041 "thumbs-down",
00042 "chat",
00043 "comment",
00044 "quote",
00045 "home",
00046 "popup",
00047 "search",
00048 "flashlight",
00049 "print",
00050 "bell",
00051 "link",
00052 "flag",
00053 "cog",
00054 "tools",
00055 "trophy",
00056 "tag",
00057 "camera",
00058 "megaphone",
00059 "moon",
00060 "palette",
00061 "leaf",
00062 "note",
00063 "beamed-note",
00064 "new",
00065 "graduation-cap",
00066 "book",
00067 "newspaper",
00068 "bag",
00069 "airplane",
00070 "lifebuoy",
00071 "eye",
00072 "clock",
00073 "mic",
00074 "calendar",
00075 "flash",
00076 "thunder-cloud",
00077 "droplet",
00078 "cd",
00079 "briefcase",
00080 "air",
00081 "hourglass",
00082 "gauge",
00083 "language",
00084 "network",
00085 "key",
00086 "battery",
00087 "bucket",
00088 "magnet",
00089 "drive",
00090 "cup",
00091 "rocket",
00092 "brush",
00093 "suitcase",
00094 "traffic-cone",
00095 "globe",
00096 "keyboard",
00097 "browser",
00098 "publish",
00099 "progress-3",
00100 "progress-2",
00101 "progress-1",
00102 "progress-0",
00103 "light-down",
00104 "light-up",
00105 "adjust",
00106 "code",
00107 "monitor",
00108 "infinity",
00109 "light-bulb",
00110 "credit-card",
00111 "database",
00112 "voicemail",
00113 "clipboard",
00114 "cart",
00115 "box",
00116 "ticket",
00117 "rss",
00118 "signal",
00119 "thermometer",
00120 "water",
00121 "sweden",
00122 "line-graph",
00123 "pie-chart",
00124 "bar-graph",
00125 "area-graph",
00126 "lock",
00127 "lock-open",
00128 "logout",
00129 "login",
00130 "check",
00131 "cross",
00132 "squared-minus",
00133 "squared-plus",
00134 "squared-cross",
00135 "circled-minus",
00136 "circled-plus",
00137 "circled-cross",
00138 "minus",
00139 "plus",
00140 "erase",
00141 "block",
00142 "info",
00143 "circled-info",
00144 "help",
00145 "circled-help",
00146 "warning",
00147 "cycle",
00148 "cw",
00149 "ccw",
00150 "shuffle",
00151 "back",
00152 "level-down",
00153 "retweet",
00154 "loop",
00155 "back-in-time",
00156 "level-up",
00157 "switch",
00158 "numbered-list",
00159 "add-to-list",
00160 "layout",
00161 "list",
00162 "text-doc",
00163 "text-doc-inverted",
00164 "doc",
00165 "docs",
00166 "landscape-doc",
00167 "picture",
00168 "video",
00169 "music",
00170 "folder",
00171 "archive",
00172 "trash",
00173 "upload",
00174 "download",
00175 "save",
00176 "install",
00177 "cloud",
00178 "upload-cloud",
00179 "bookmark",
00180 "bookmarks",
00181 "open-book",
00182 "play",
00183 "paus",
00184 "record",
00185 "stop",
00186 "ff",
00187 "fb",
00188 "to-start",
00189 "to-end",
00190 "resize-full",
00191 "resize-small",
00192 "volume",
00193 "sound",
00194 "mute",
00195 "flow-cascade",
00196 "flow-branch",
00197 "flow-tree",
00198 "flow-line",
00199 "flow-parallel",
00200 "left-bold",
00201 "down-bold",
00202 "up-bold",
00203 "right-bold",
00204 "left",
00205 "down",
00206 "up",
00207 "right",
00208 "circled-left",
00209 "circled-down",
00210 "circled-up",
00211 "circled-right",
00212 "triangle-left",
00213 "triangle-down",
00214 "triangle-up",
00215 "triangle-right",
00216 "chevron-left",
00217 "chevron-down",
00218 "chevron-up",
00219 "chevron-right",
00220 "chevron-small-left",
00221 "chevron-small-down",
00222 "chevron-small-up",
00223 "chevron-small-right",
00224 "chevron-thin-left",
00225 "chevron-thin-down",
00226 "chevron-thin-up",
00227 "chevron-thin-right",
00228 "left-thin",
00229 "down-thin",
00230 "up-thin",
00231 "right-thin",
00232 "arrow-combo",
00233 "three-dots",
00234 "two-dots",
00235 "dot",
00236 "cc",
00237 "cc-by",
00238 "cc-nc",
00239 "cc-nc-eu",
00240 "cc-nc-jp",
00241 "cc-sa",
00242 "cc-nd",
00243 "cc-pd",
00244 "cc-zero",
00245 "cc-share",
00246 "cc-remix",
00247 "db-logo",
00248 "db-shape",
00249 "github",
00250 "c-github",
00251 "flickr",
00252 "c-flickr",
00253 "vimeo",
00254 "c-vimeo",
00255 "twitter",
00256 "c-twitter",
00257 "facebook",
00258 "c-facebook",
00259 "s-facebook",
00260 "google+",
00261 "c-google+",
00262 "pinterest",
00263 "c-pinterest",
00264 "tumblr",
00265 "c-tumblr",
00266 "linkedin",
00267 "c-linkedin",
00268 "dribbble",
00269 "c-dribbble",
00270 "stumbleupon",
00271 "c-stumbleupon",
00272 "lastfm",
00273 "c-lastfm",
00274 "rdio",
00275 "c-rdio",
00276 "spotify",
00277 "c-spotify",
00278 "qq",
00279 "instagram",
00280 "dropbox",
00281 "evernote",
00282 "flattr",
00283 "skype",
00284 "c-skype",
00285 "renren",
00286 "sina-weibo",
00287 "paypal",
00288 "picasa",
00289 "soundcloud",
00290 "mixi",
00291 "behance",
00292 "google-circles",
00293 "vk",
00294 "smashing",
00295 "fa-adjust",
00296 "fa-adn",
00297 "fa-align-center",
00298 "fa-align-justify",
00299 "fa-align-left",
00300 "fa-align-right",
00301 "fa-ambulance",
00302 "fa-anchor",
00303 "fa-android",
00304 "fa-angellist",
00305 "fa-angle-double-down",
00306 "fa-angle-double-left",
00307 "fa-angle-double-right",
00308 "fa-angle-double-up",
00309 "fa-angle-down",
00310 "fa-angle-left",
00311 "fa-angle-right",
00312 "fa-angle-up",
00313 "fa-apple",
00314 "fa-archive",
00315 "fa-area-chart",
00316 "fa-arrow-circle-down",
00317 "fa-arrow-circle-left",
00318 "fa-arrow-circle-o-down",
00319 "fa-arrow-circle-o-left",
00320 "fa-arrow-circle-o-right",
00321 "fa-arrow-circle-o-up",
00322 "fa-arrow-circle-right",
00323 "fa-arrow-circle-up",
00324 "fa-arrow-down",
00325 "fa-arrow-left",
00326 "fa-arrow-right",
00327 "fa-arrow-up",
00328 "fa-arrows",
00329 "fa-arrows-alt",
00330 "fa-arrows-h",
00331 "fa-arrows-v",
00332 "fa-asterisk",
00333 "fa-at",
00334 "fa-automobile",
00335 "fa-backward",
00336 "fa-ban",
00337 "fa-bank",
00338 "fa-bar-chart",
00339 "fa-bar-chart-o",
00340 "fa-barcode",
00341 "fa-bars",
00342 "fa-beer",
00343 "fa-behance",
00344 "fa-behance-square",
00345 "fa-bell",
00346 "fa-bell-o",
00347 "fa-bell-slash",
00348 "fa-bell-slash-o",
00349 "fa-bicycle",
00350 "fa-binoculars",
00351 "fa-birthday-cake",
00352 "fa-bitbucket",
00353 "fa-bitbucket-square",
00354 "fa-bitcoin",
00355 "fa-bold",
00356 "fa-bolt",
00357 "fa-bomb",
00358 "fa-book",
00359 "fa-bookmark",
00360 "fa-bookmark-o",
00361 "fa-briefcase",
00362 "fa-btc",
00363 "fa-bug",
00364 "fa-building",
00365 "fa-building-o",
00366 "fa-bullhorn",
00367 "fa-bullseye",
00368 "fa-bus",
00369 "fa-cab",
00370 "fa-calculator",
00371 "fa-calendar",
00372 "fa-calendar-o",
00373 "fa-camera",
00374 "fa-camera-retro",
00375 "fa-car",
00376 "fa-caret-down",
00377 "fa-caret-left",
00378 "fa-caret-right",
00379 "fa-caret-square-o-down",
00380 "fa-caret-square-o-left",
00381 "fa-caret-square-o-right",
00382 "fa-caret-square-o-up",
00383 "fa-caret-up",
00384 "fa-cc",
00385 "fa-cc-amex",
00386 "fa-cc-discover",
00387 "fa-cc-mastercard",
00388 "fa-cc-paypal",
00389 "fa-cc-stripe",
00390 "fa-cc-visa",
00391 "fa-certificate",
00392 "fa-chain",
00393 "fa-chain-broken",
00394 "fa-check",
00395 "fa-check-circle",
00396 "fa-check-circle-o",
00397 "fa-check-square",
00398 "fa-check-square-o",
00399 "fa-chevron-circle-down",
00400 "fa-chevron-circle-left",
00401 "fa-chevron-circle-right",
00402 "fa-chevron-circle-up",
00403 "fa-chevron-down",
00404 "fa-chevron-left",
00405 "fa-chevron-right",
00406 "fa-chevron-up",
00407 "fa-child",
00408 "fa-circle",
00409 "fa-circle-o",
00410 "fa-circle-o-notch",
00411 "fa-circle-thin",
00412 "fa-clipboard",
00413 "fa-clock-o",
00414 "fa-close",
00415 "fa-cloud",
00416 "fa-cloud-download",
00417 "fa-cloud-upload",
00418 "fa-cny",
00419 "fa-code",
00420 "fa-code-fork",
00421 "fa-codepen",
00422 "fa-coffee",
00423 "fa-cog",
00424 "fa-cogs",
00425 "fa-columns",
00426 "fa-comment",
00427 "fa-comment-o",
00428 "fa-comments",
00429 "fa-comments-o",
00430 "fa-compass",
00431 "fa-compress",
00432 "fa-copy",
00433 "fa-copyright",
00434 "fa-credit-card",
00435 "fa-crop",
00436 "fa-crosshairs",
00437 "fa-css3",
00438 "fa-cube",
00439 "fa-cubes",
00440 "fa-cut",
00441 "fa-cutlery",
00442 "fa-dashboard",
00443 "fa-database",
00444 "fa-dedent",
00445 "fa-delicious",
00446 "fa-desktop",
00447 "fa-deviantart",
00448 "fa-digg",
00449 "fa-dollar",
00450 "fa-dot-circle-o",
00451 "fa-download",
00452 "fa-dribbble",
00453 "fa-dropbox",
00454 "fa-drupal",
00455 "fa-edit",
00456 "fa-eject",
00457 "fa-ellipsis-h",
00458 "fa-ellipsis-v",
00459 "fa-empire",
00460 "fa-envelope",
00461 "fa-envelope-o",
00462 "fa-envelope-square",
00463 "fa-eraser",
00464 "fa-eur",
00465 "fa-euro",
00466 "fa-exchange",
00467 "fa-exclamation",
00468 "fa-exclamation-circle",
00469 "fa-exclamation-triangle",
00470 "fa-expand",
00471 "fa-external-link",
00472 "fa-external-link-square",
00473 "fa-eye",
00474 "fa-eye-slash",
00475 "fa-eyedropper",
00476 "fa-facebook",
00477 "fa-facebook-square",
00478 "fa-fast-backward",
00479 "fa-fast-forward",
00480 "fa-fax",
00481 "fa-female",
00482 "fa-fighter-jet",
00483 "fa-file",
00484 "fa-file-archive-o",
00485 "fa-file-audio-o",
00486 "fa-file-code-o",
00487 "fa-file-excel-o",
00488 "fa-file-image-o",
00489 "fa-file-movie-o",
00490 "fa-file-o",
00491 "fa-file-pdf-o",
00492 "fa-file-photo-o",
00493 "fa-file-picture-o",
00494 "fa-file-powerpoint-o",
00495 "fa-file-sound-o",
00496 "fa-file-text",
00497 "fa-file-text-o",
00498 "fa-file-video-o",
00499 "fa-file-word-o",
00500 "fa-file-zip-o",
00501 "fa-files-o",
00502 "fa-film",
00503 "fa-filter",
00504 "fa-fire",
00505 "fa-fire-extinguisher",
00506 "fa-flag",
00507 "fa-flag-checkered",
00508 "fa-flag-o",
00509 "fa-flash",
00510 "fa-flask",
00511 "fa-flickr",
00512 "fa-floppy-o",
00513 "fa-folder",
00514 "fa-folder-o",
00515 "fa-folder-open",
00516 "fa-folder-open-o",
00517 "fa-font",
00518 "fa-forward",
00519 "fa-foursquare",
00520 "fa-frown-o",
00521 "fa-futbol-o",
00522 "fa-gamepad",
00523 "fa-gavel",
00524 "fa-gbp",
00525 "fa-ge",
00526 "fa-gear",
00527 "fa-gears",
00528 "fa-gift",
00529 "fa-git",
00530 "fa-git-square",
00531 "fa-github",
00532 "fa-github-alt",
00533 "fa-github-square",
00534 "fa-gittip",
00535 "fa-glass",
00536 "fa-globe",
00537 "fa-google",
00538 "fa-google-plus",
00539 "fa-google-plus-square",
00540 "fa-google-wallet",
00541 "fa-graduation-cap",
00542 "fa-group",
00543 "fa-h-square",
00544 "fa-hacker-news",
00545 "fa-hand-o-down",
00546 "fa-hand-o-left",
00547 "fa-hand-o-right",
00548 "fa-hand-o-up",
00549 "fa-hdd-o",
00550 "fa-header",
00551 "fa-headphones",
00552 "fa-heart",
00553 "fa-heart-o",
00554 "fa-history",
00555 "fa-home",
00556 "fa-hospital-o",
00557 "fa-html5",
00558 "fa-ils",
00559 "fa-image",
00560 "fa-inbox",
00561 "fa-indent",
00562 "fa-info",
00563 "fa-info-circle",
00564 "fa-inr",
00565 "fa-instagram",
00566 "fa-institution",
00567 "fa-ioxhost",
00568 "fa-italic",
00569 "fa-joomla",
00570 "fa-jpy",
00571 "fa-jsfiddle",
00572 "fa-key",
00573 "fa-keyboard-o",
00574 "fa-krw",
00575 "fa-language",
00576 "fa-laptop",
00577 "fa-lastfm",
00578 "fa-lastfm-square",
00579 "fa-leaf",
00580 "fa-legal",
00581 "fa-lemon-o",
00582 "fa-level-down",
00583 "fa-level-up",
00584 "fa-life-bouy",
00585 "fa-life-buoy",
00586 "fa-life-ring",
00587 "fa-life-saver",
00588 "fa-lightbulb-o",
00589 "fa-line-chart",
00590 "fa-link",
00591 "fa-linkedin",
00592 "fa-linkedin-square",
00593 "fa-linux",
00594 "fa-list",
00595 "fa-list-alt",
00596 "fa-list-ol",
00597 "fa-list-ul",
00598 "fa-location-arrow",
00599 "fa-lock",
00600 "fa-long-arrow-down",
00601 "fa-long-arrow-left",
00602 "fa-long-arrow-right",
00603 "fa-long-arrow-up",
00604 "fa-magic",
00605 "fa-magnet",
00606 "fa-mail-forward",
00607 "fa-mail-reply",
00608 "fa-mail-reply-all",
00609 "fa-male",
00610 "fa-map-marker",
00611 "fa-maxcdn",
00612 "fa-meanpath",
00613 "fa-medkit",
00614 "fa-meh-o",
00615 "fa-microphone",
00616 "fa-microphone-slash",
00617 "fa-minus",
00618 "fa-minus-circle",
00619 "fa-minus-square",
00620 "fa-minus-square-o",
00621 "fa-mobile",
00622 "fa-mobile-phone",
00623 "fa-money",
00624 "fa-moon-o",
00625 "fa-mortar-board",
00626 "fa-music",
00627 "fa-navicon",
00628 "fa-newspaper-o",
00629 "fa-openid",
00630 "fa-outdent",
00631 "fa-pagelines",
00632 "fa-paint-brush",
00633 "fa-paper-plane",
00634 "fa-paper-plane-o",
00635 "fa-paperclip",
00636 "fa-paragraph",
00637 "fa-paste",
00638 "fa-pause",
00639 "fa-paw",
00640 "fa-paypal",
00641 "fa-pencil",
00642 "fa-pencil-square",
00643 "fa-pencil-square-o",
00644 "fa-phone",
00645 "fa-phone-square",
00646 "fa-photo",
00647 "fa-picture-o",
00648 "fa-pie-chart",
00649 "fa-pied-piper",
00650 "fa-pied-piper-alt",
00651 "fa-pinterest",
00652 "fa-pinterest-square",
00653 "fa-plane",
00654 "fa-play",
00655 "fa-play-circle",
00656 "fa-play-circle-o",
00657 "fa-plug",
00658 "fa-plus",
00659 "fa-plus-circle",
00660 "fa-plus-square",
00661 "fa-plus-square-o",
00662 "fa-power-off",
00663 "fa-print",
00664 "fa-puzzle-piece",
00665 "fa-qq",
00666 "fa-qrcode",
00667 "fa-question",
00668 "fa-question-circle",
00669 "fa-quote-left",
00670 "fa-quote-right",
00671 "fa-ra",
00672 "fa-random",
00673 "fa-rebel",
00674 "fa-recycle",
00675 "fa-reddit",
00676 "fa-reddit-square",
00677 "fa-refresh",
00678 "fa-remove",
00679 "fa-renren",
00680 "fa-reorder",
00681 "fa-repeat",
00682 "fa-reply",
00683 "fa-reply-all",
00684 "fa-retweet",
00685 "fa-rmb",
00686 "fa-road",
00687 "fa-rocket",
00688 "fa-rotate-left",
00689 "fa-rotate-right",
00690 "fa-rouble",
00691 "fa-rss",
00692 "fa-rss-square",
00693 "fa-rub",
00694 "fa-ruble",
00695 "fa-rupee",
00696 "fa-save",
00697 "fa-scissors",
00698 "fa-search",
00699 "fa-search-minus",
00700 "fa-search-plus",
00701 "fa-send",
00702 "fa-send-o",
00703 "fa-share",
00704 "fa-share-alt",
00705 "fa-share-alt-square",
00706 "fa-share-square",
00707 "fa-share-square-o",
00708 "fa-shekel",
00709 "fa-sheqel",
00710 "fa-shield",
00711 "fa-shopping-cart",
00712 "fa-sign-in",
00713 "fa-sign-out",
00714 "fa-signal",
00715 "fa-sitemap",
00716 "fa-skype",
00717 "fa-slack",
00718 "fa-sliders",
00719 "fa-slideshare",
00720 "fa-smile-o",
00721 "fa-soccer-ball-o",
00722 "fa-sort",
00723 "fa-sort-alpha-asc",
00724 "fa-sort-alpha-desc",
00725 "fa-sort-amount-asc",
00726 "fa-sort-amount-desc",
00727 "fa-sort-asc",
00728 "fa-sort-desc",
00729 "fa-sort-down",
00730 "fa-sort-numeric-asc",
00731 "fa-sort-numeric-desc",
00732 "fa-sort-up",
00733 "fa-soundcloud",
00734 "fa-space-shuttle",
00735 "fa-spinner",
00736 "fa-spoon",
00737 "fa-spotify",
00738 "fa-square",
00739 "fa-square-o",
00740 "fa-stack-exchange",
00741 "fa-stack-overflow",
00742 "fa-star",
00743 "fa-star-half",
00744 "fa-star-half-empty",
00745 "fa-star-half-full",
00746 "fa-star-half-o",
00747 "fa-star-o",
00748 "fa-steam",
00749 "fa-steam-square",
00750 "fa-step-backward",
00751 "fa-step-forward",
00752 "fa-stethoscope",
00753 "fa-stop",
00754 "fa-strikethrough",
00755 "fa-stumbleupon",
00756 "fa-stumbleupon-circle",
00757 "fa-subscript",
00758 "fa-suitcase",
00759 "fa-sun-o",
00760 "fa-superscript",
00761 "fa-support",
00762 "fa-table",
00763 "fa-tablet",
00764 "fa-tachometer",
00765 "fa-tag",
00766 "fa-tags",
00767 "fa-tasks",
00768 "fa-taxi",
00769 "fa-tencent-weibo",
00770 "fa-terminal",
00771 "fa-text-height",
00772 "fa-text-width",
00773 "fa-th",
00774 "fa-th-large",
00775 "fa-th-list",
00776 "fa-thumb-tack",
00777 "fa-thumbs-down",
00778 "fa-thumbs-o-down",
00779 "fa-thumbs-o-up",
00780 "fa-thumbs-up",
00781 "fa-ticket",
00782 "fa-times",
00783 "fa-times-circle",
00784 "fa-times-circle-o",
00785 "fa-tint",
00786 "fa-toggle-down",
00787 "fa-toggle-left",
00788 "fa-toggle-off",
00789 "fa-toggle-on",
00790 "fa-toggle-right",
00791 "fa-toggle-up",
00792 "fa-trash",
00793 "fa-trash-o",
00794 "fa-tree",
00795 "fa-trello",
00796 "fa-trophy",
00797 "fa-truck",
00798 "fa-try",
00799 "fa-tty",
00800 "fa-tumblr",
00801 "fa-tumblr-square",
00802 "fa-turkish-lira",
00803 "fa-twitch",
00804 "fa-twitter",
00805 "fa-twitter-square",
00806 "fa-umbrella",
00807 "fa-underline",
00808 "fa-undo",
00809 "fa-university",
00810 "fa-unlink",
00811 "fa-unlock",
00812 "fa-unlock-alt",
00813 "fa-unsorted",
00814 "fa-upload",
00815 "fa-usd",
00816 "fa-user",
00817 "fa-user-md",
00818 "fa-users",
00819 "fa-video-camera",
00820 "fa-vimeo-square",
00821 "fa-vine",
00822 "fa-vk",
00823 "fa-volume-down",
00824 "fa-volume-off",
00825 "fa-volume-up",
00826 "fa-warning",
00827 "fa-wechat",
00828 "fa-weibo",
00829 "fa-weixin",
00830 "fa-wheelchair",
00831 "fa-wifi",
00832 "fa-windows",
00833 "fa-won",
00834 "fa-wordpress",
00835 "fa-wrench",
00836 "fa-xing",
00837 "fa-xing-square",
00838 "fa-yahoo",
00839 "fa-yelp",
00840 "fa-yen",
00841 "fa-youtube",
00842 "fa-youtube-play",
00843 "fa-youtube-square"]
00844
00845 counter = 0
00846 while not rospy.is_shutdown():
00847 msg = Pictogram()
00848 msg.action = Pictogram.JUMP_ONCE
00849 msg.header.frame_id = "/base_link"
00850 msg.header.stamp = rospy.Time.now()
00851 msg.pose.position.z = 1.6
00852 msg.pose.orientation.w = 0.7
00853 msg.pose.orientation.x = 0
00854 msg.pose.orientation.y = -0.7
00855 msg.pose.orientation.z = 0
00856 msg.mode = Pictogram.PICTOGRAM_MODE
00857 msg.speed = 1.0
00858
00859 msg.size = 1
00860 msg.color.r = 25 / 255.0
00861 msg.color.g = 255 / 255.0
00862 msg.color.b = 240 / 255.0
00863 msg.color.a = 1.0
00864 msg.character = pictograms[counter]
00865 p.publish(msg)
00866 r.sleep()
00867 counter = counter + 1
00868 if len(pictograms) == counter:
00869 counter = 0