__init__.py
Go to the documentation of this file.
00001 # Software License Agreement (BSD License)
00002 #
00003 # Copyright (c) 2010, Willow Garage, Inc.
00004 # All rights reserved.
00005 #
00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions
00008 # are met:
00009 #
00010 #  * Redistributions of source code must retain the above copyright
00011 #    notice, this list of conditions and the following disclaimer.
00012 #  * Redistributions in binary form must reproduce the above
00013 #    copyright notice, this list of conditions and the following
00014 #    disclaimer in the documentation and/or other materials provided
00015 #    with the distribution.
00016 #  * Neither the name of Willow Garage, Inc. nor the names of its
00017 #    contributors may be used to endorse or promote products derived
00018 #    from this software without specific prior written permission.
00019 #
00020 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00021 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00022 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00023 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00024 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00025 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00026 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00027 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00028 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00029 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00030 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031 # POSSIBILITY OF SUCH DAMAGE.
00032 #
00033 # Revision $Id: __init__.py 11149 2010-09-18 04:17:59Z kwc $
00034 
00035 import roslib; roslib.load_manifest('rosh_common')
00036 
00037 import rosh.plugin
00038 from rosh_common.action import Actions
00039 from rosh_common.camera import Cameras
00040 
00041 _loaded_symbols = None
00042 
00043 PLUGIN_CAMERAS_SHOW = 'plugin-rosh_common-cameras_show'
00044 
00045 def rosh_plugin_load(plugin_context, globals_=None):
00046     """
00047     Initialize rosh_common plugin
00048     """
00049     global _loaded_symbols
00050     if rosh.plugin.reentrant_load(_loaded_symbols, globals_):
00051         return
00052 
00053     cameras = Cameras(plugin_context.ctx, plugin_context.rosh_lock)
00054     _loaded_symbols = {
00055         'actions': Actions(plugin_context.ctx, plugin_context.rosh_lock),
00056         'cameras': Cameras(plugin_context.ctx, plugin_context.rosh_lock)
00057         }
00058     rosh.plugin.globals_load(plugin_context, globals_, _loaded_symbols)
00059 
00060     plugin = rosh.plugin.PluginData()
00061     plugin.add_api(PLUGIN_CAMERAS_SHOW, cameras._register_show_handler)
00062     #TODO: register nav_msgs handler
00063     #plugin.add_handler()
00064     return plugin
00065 
00066 
00067 #TODO: convert to plugin
00068 def show_occ_grid(ns_obj):
00069     # internal py_image_view can convert occ grids to images
00070     mod = os.path.join(get_pkg_dir('rosh'), 'src', 'rosh', 'impl', 'py_image_view.py')
00071     #TODO: convert to launch instead
00072     rosh.impl.proc.run(ns_obj._config, ['python', mod, '--map', '-t', ns_obj._name])
00073     print "running py_image_viewer, this may be slow over a wireless network"
00074 


rosh_common
Author(s): Ken Conley
autogenerated on Fri Aug 28 2015 12:40:17