listen_maptopic.py

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#!/usr/bin/env python
import rospy
from array import array
from  nav_msgs.msg import OccupancyGrid
from  std_msgs.msg import String
import operator

class MapListener:
        def __init__(self,topic):
                self.sub_topic = topic
                rospy.Subscriber(self.sub_topic,OccupancyGrid,self.callback)
        def callback(self,data):
                _frame_id = data.header.frame_id
                rospy.loginfo(_frame_id)


if __name__ == '__main__':
        rospy.loginfo("started my node")
        rospy.init_node('map_listener_simple',anonymous=True)
        listener = MapListener("map")
        rospy.spin()