subtopic_forwarder.py
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00001 #!/usr/bin/env python
00002 #***********************************************************
00003 #* Software License Agreement (BSD License)
00004 #*
00005 #*  Copyright (c) 2009, Willow Garage, Inc.
00006 #*  All rights reserved.
00007 #*
00008 #*  Redistribution and use in source and binary forms, with or without
00009 #*  modification, are permitted provided that the following conditions
00010 #*  are met:
00011 #*
00012 #*   * Redistributions of source code must retain the above copyright
00013 #*     notice, this list of conditions and the following disclaimer.
00014 #*   * Redistributions in binary form must reproduce the above
00015 #*     copyright notice, this list of conditions and the following
00016 #*     disclaimer in the documentation and/or other materials provided
00017 #*     with the distribution.
00018 #*   * Neither the name of Willow Garage, Inc. nor the names of its
00019 #*     contributors may be used to endorse or promote products derived
00020 #*     from this software without specific prior written permission.
00021 #*
00022 #*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 #*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 #*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 #*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 #*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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00029 #*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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00035 #* Author: Eitan Marder-Eppstein
00036 #***********************************************************
00037 PKG = 'move_base'
00038 NAME = 'subtopic_forwarder'
00039 
00040 import rospy
00041 import sys
00042 import rostopic
00043 from roslib.message import Message
00044 
00045 
00046 class SubtopicForwarder(object):
00047     def __init__(self, topic, remapped_topic):
00048         topic_class, real_topic, msg_eval = rostopic.get_topic_class(topic)
00049         try:
00050             rospy.Subscriber(real_topic, topic_class, self.callback, (remapped_topic, msg_eval))
00051         except ValueError:
00052             pass
00053 
00054     def callback(self, data, args):
00055         remapped_topic, msg_eval = args
00056 
00057         #make sure to check if we have a subtopic or just a topic
00058         remapped_msg = msg_eval is not None and msg_eval(data) or data
00059 
00060         if not issubclass(type(remapped_msg), Message):
00061             rospy.logerr("Sorry, forwarding primitive types, in this case a %s, is not supported by this tool :(", type(remapped_msg))
00062         return
00063 
00064         remap_pub = rospy.Publisher(remapped_topic, type(remapped_msg))
00065         remap_pub.publish(remapped_msg)
00066 
00067 if __name__ == '__main__':
00068     if len(sys.argv) < 3:
00069         print "You are uinsg this tool wrong, usage is:"
00070         print "subtopic_forwarder [source_topic] [destination_topic]"
00071         sys.exit(-1)
00072 
00073     rospy.init_node(NAME, anonymous=True)
00074 
00075     topic = rospy.resolve_name(sys.argv[1])
00076     remapped_topic = rospy.resolve_name(sys.argv[2])
00077     sf = SubtopicForwarder(topic, remapped_topic)
00078 
00079     rospy.spin()


move_base
Author(s): Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:07:31