Go to the documentation of this file.00001
00002
00003
00004 import rospy
00005 from jsk_recognition_msgs.msg import ColorHistogram
00006
00007 class ColorHistogramPublisher():
00008
00009 def __init__(self):
00010 self.histogram = rospy.get_param('~histogram', [])
00011 self.frame_id = rospy.get_param('~frame_id')
00012 self.pub = rospy.Publisher('~output', ColorHistogram, queue_size=1)
00013
00014 rate = rospy.get_param('~rate', 1.)
00015 rospy.Timer(rospy.Duration(1. / rate), self.publish)
00016
00017 def publish(self, event):
00018 histogram_msg = ColorHistogram()
00019 histogram_msg.header.stamp = rospy.Time.now()
00020 histogram_msg.header.frame_id = self.frame_id
00021 histogram_msg.histogram = self.histogram
00022 self.pub.publish(histogram_msg)
00023
00024 if __name__=='__main__':
00025 rospy.init_node("color_histogram_publisher")
00026 color_histogram_publisher = ColorHistogramPublisher()
00027 rospy.spin()