test_geneus_send_msgs.py
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00001 #!/usr/bin/env python
00002 
00003 import rospy
00004 import std_msgs
00005 import roseus
00006 import roseus.msg
00007 
00008 def send_msgs():
00009     pubs = { rospy.Publisher('bool', std_msgs.msg.Bool, queue_size=10)  : std_msgs.msg.Bool(data=True),
00010              rospy.Publisher('byte', std_msgs.msg.Byte, queue_size=10)       : std_msgs.msg.Byte(1),
00011              rospy.Publisher('bytemultiarray', std_msgs.msg.ByteMultiArray, queue_size=10)       : std_msgs.msg.ByteMultiArray(data=[-1,2,-3]),
00012              rospy.Publisher('char', std_msgs.msg.Char, queue_size=10)       : std_msgs.msg.Char(2),
00013              rospy.Publisher('colorrgba', std_msgs.msg.ColorRGBA, queue_size=10)       : std_msgs.msg.ColorRGBA(0.1,0.2,0.3,0.4),
00014              rospy.Publisher('duration', std_msgs.msg.Duration, queue_size=10)       : std_msgs.msg.Duration(rospy.Time(1.234)),
00015              rospy.Publisher('empty', std_msgs.msg.Empty, queue_size=10)       : std_msgs.msg.Empty(),
00016              rospy.Publisher('float32', std_msgs.msg.Float32, queue_size=10)       : std_msgs.msg.Float32(1.234),
00017              rospy.Publisher('float64', std_msgs.msg.Float64, queue_size=10)       : std_msgs.msg.Float64(5.678),
00018              rospy.Publisher('header', std_msgs.msg.Header, queue_size=10)       : std_msgs.msg.Header(seq=1234,stamp=rospy.Time(1.234),frame_id="frame"),
00019              rospy.Publisher('int16', std_msgs.msg.Int16, queue_size=10)       : std_msgs.msg.Int16(-1),
00020              rospy.Publisher('int32', std_msgs.msg.Int32, queue_size=10)       : std_msgs.msg.Int32(-2),
00021              rospy.Publisher('int64', std_msgs.msg.Int64, queue_size=10)       : std_msgs.msg.Int64(-3),
00022              rospy.Publisher('int8', std_msgs.msg.Int8, queue_size=10)       : std_msgs.msg.Int8(-4),
00023              # rospy.Publisher('multiarraydimension', std_msgs.msg.MultiArrayDimension, queue_size=10)       : std_msgs.msg.,
00024              # rospy.Publisher('multiarraylayout', std_msgs.msg.MultiAarrayLayout, queue_size=10)       : std_msgs.msg.,
00025              rospy.Publisher('string', std_msgs.msg.String, queue_size=10)       : std_msgs.msg.String("euslisp"),
00026              rospy.Publisher('time', std_msgs.msg.Time, queue_size=10)       : std_msgs.msg.Time(rospy.Time(1.234)),
00027              rospy.Publisher('uint16', std_msgs.msg.UInt16, queue_size=10)       : std_msgs.msg.UInt16(1),
00028              rospy.Publisher('uint32', std_msgs.msg.UInt32, queue_size=10)       : std_msgs.msg.UInt32(2),
00029              rospy.Publisher('uint64', std_msgs.msg.UInt64, queue_size=10)       : std_msgs.msg.UInt64(3),
00030              rospy.Publisher('uint8', std_msgs.msg.UInt8, queue_size=10)       : std_msgs.msg.UInt8(4),
00031              rospy.Publisher('float32multiarray', std_msgs.msg.Float32MultiArray, queue_size=10)       : std_msgs.msg.Float32MultiArray(data=[1.234,5.678]),
00032              rospy.Publisher('float64multiarray', std_msgs.msg.Float64MultiArray, queue_size=10)       : std_msgs.msg.Float64MultiArray(data=[1.234,5.678]),
00033              rospy.Publisher('int16multiarray', std_msgs.msg.Int16MultiArray, queue_size=10)       : std_msgs.msg.Int16MultiArray(data=[-1,2,-3]),
00034              rospy.Publisher('int32multiarray', std_msgs.msg.Int32MultiArray, queue_size=10)       : std_msgs.msg.Int32MultiArray(data=[-4,5,-6]),
00035              rospy.Publisher('int64multiarray', std_msgs.msg.Int64MultiArray, queue_size=10)       : std_msgs.msg.Int64MultiArray(data=[-7,8,-9]),
00036              rospy.Publisher('int8multiarray', std_msgs.msg.Int8MultiArray, queue_size=10)       : std_msgs.msg.Int8MultiArray(data=[-10,11,-12]),
00037              rospy.Publisher('uint16multiarray', std_msgs.msg.UInt16MultiArray, queue_size=10)       : std_msgs.msg.UInt16MultiArray(data=[1,2,3]),
00038              rospy.Publisher('uint32multiarray', std_msgs.msg.UInt32MultiArray, queue_size=10)       : std_msgs.msg.UInt32MultiArray(data=[4,5,6]),
00039              rospy.Publisher('uint64multiarray', std_msgs.msg.UInt64MultiArray, queue_size=10)       : std_msgs.msg.UInt64MultiArray(data=[7,8,9]),
00040              rospy.Publisher('uint8multiarray', std_msgs.msg.UInt8MultiArray, queue_size=10)       : std_msgs.msg.UInt8MultiArray(data=[ord('e'),ord('u'),ord('s')]), # ascii codes of 'eus'
00041              rospy.Publisher('fixedarray', roseus.msg.FixedArray, queue_size=10)       : roseus.msg.FixedArray(float32_data=[1,-2,3], float64_data=[4,-5,6], int16_data=[7,-8,9], int32_data=[10,-11,12], int64_data=[13,-14,15], int8_data=[16,-17,18], uint16_data=[1,2,3], uint32_data=[4,5,6], uint64_data=[7,8,9], uint8_data=[ord('j'),ord('o'),ord('h'),ord('o'),ord('s'),ord('y'),ord('s'),ord('t'),ord('e'),ord('m'),ord('k'),ord('o'),ord('u'),ord('g'),ord('a'),ord('k'),ord('u')]),
00042             }
00043     rospy.init_node('test_geneus_send_msgs', anonymous=True)
00044     rate = rospy.Rate(10) # 10hz
00045     while not rospy.is_shutdown():
00046         for p,i in pubs.iteritems():
00047             p.publish(i)
00048         rate.sleep()
00049 
00050 if __name__ == '__main__':
00051     try:
00052         send_msgs()
00053     except rospy.ROSInterruptException:
00054         pass


roseus
Author(s): Kei Okada
autogenerated on Wed Sep 16 2015 10:23:58