warner.py
Go to the documentation of this file.
00001 #! /usr/bin/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,
00027 #*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 #*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 #*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 #*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 #*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 #*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 #*  POSSIBILITY OF SUCH DAMAGE.
00034 #*
00035 #* Author: Eitan Marder-Eppstein
00036 #***********************************************************
00037 PKG = "move_base"
00038 NAME = "warner"
00039 
00040 import rospy
00041 import sys
00042 
00043 
00044 def warner():
00045     rospy.init_node(NAME, anonymous=True)
00046     if not rospy.has_param('~string'):
00047         rospy.logerr("You must fill in the \"~string\" parameter to run this node, otherwise we don't know what to warn about. Exiting")
00048         sys.exit(-1)
00049 
00050     period = rospy.get_param('~period', 5.0)
00051     string = rospy.get_param('~string')
00052 
00053     r = rospy.Rate(1.0 / period)
00054     while not rospy.is_shutdown():
00055         rospy.logwarn("%s", string)
00056         r.sleep()
00057 
00058 if __name__ == '__main__':
00059     try:
00060         warner()
00061     except rospy.ROSInterruptException:
00062         pass


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