save_mesh_server.py
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00001 #!/usr/bin/env python
00002 
00003 import rospy
00004 from jsk_recognition_msgs.msg import BoundingBox
00005 from jsk_recognition_msgs.srv import SaveMesh
00006 from jsk_recognition_msgs.srv import SaveMeshRequest
00007 from std_srvs.srv import Empty
00008 from std_srvs.srv import EmptyResponse
00009 
00010 
00011 class SaveMeshServer(object):
00012 
00013     def __init__(self):
00014         self.ground_frame_id = rospy.get_param('~ground_frame_id', '')
00015         self.sub_bbox = rospy.Subscriber('~input/bbox', BoundingBox, self._cb)
00016         self.srv_client = rospy.ServiceProxy('~save_mesh', SaveMesh)
00017         self.srv_server = rospy.Service('~request', Empty, self._request_cb)
00018         self.bbox_msg = None
00019 
00020     def _cb(self, bbox_msg):
00021         self.bbox_msg = bbox_msg
00022 
00023     def _request_cb(self, req):
00024         if self.bbox_msg is None:
00025             rospy.logerr('No bounding box is set, so ignoring the request.')
00026             return EmptyResponse()
00027 
00028         req = SaveMeshRequest()
00029         req.box = self.bbox_msg
00030         req.ground_frame_id = self.ground_frame_id
00031         self.srv_client.call(req)
00032         return EmptyResponse()
00033 
00034 
00035 if __name__ == '__main__':
00036     rospy.init_node('save_mesh_server')
00037     server = SaveMeshServer()
00038     rospy.spin()


jsk_recognition_msgs
Author(s):
autogenerated on Tue Jul 2 2019 19:40:28