wavetester.py
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00001 #!/usr/bin/env python
00002 '''
00003 Created on Feb 04, 2013
00004 
00005 @author: dnad
00006 '''
00007 import roslib; roslib.load_manifest("cart_sim");
00008 import rospy;
00009 from geometry_msgs.msg import Quaternion;
00010 from nav_msgs.msg import Odometry
00011       
00012 class Wave:
00013     def __init__(self):
00014         rospy.Subscriber("/diver/ocean_info", Quaternion, self.onWave);
00015         self.pub = rospy.Publisher("/diver/uwsim_hook",Odometry);
00016           
00017     def onWave(self,data):
00018         odom = Odometry();
00019         odom.pose.pose.position.x = 0;
00020         odom.pose.pose.position.y = 0;
00021         odom.pose.pose.position.z = -data.w;
00022         odom.pose.pose.orientation.w = 1;
00023         odom.header.stamp = rospy.Time.now();
00024          
00025         #print "Publish data:",data.w;
00026         self.pub.publish(odom);
00027                 
00028     def step(self):
00029         self;
00030         
00031 if __name__ == "__main__":
00032     rospy.init_node("wavetest");
00033     test = Wave();
00034     rate = rospy.Rate(1); 
00035         
00036     while not rospy.is_shutdown():
00037         test.step();
00038         rate.sleep();
00039         
00040         
00041         
00042         
00043         


labust_uvapp
Author(s): Dula Nad
autogenerated on Sun Mar 1 2015 12:12:22