jsk_rviz_plugins: overlay_text_interface.py Source File

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00001 #!/usr/bin/env python
00002 
00003 from jsk_rviz_plugins.cfg import OverlayTextInterfaceConfig
00004 from jsk_rviz_plugins.msg import OverlayText
00005 from dynamic_reconfigure.server import Server
00006 import rospy
00007 
00008 class OverlayTextInterface():
00009     def __init__(self, topic):
00010         self.srv = Server(OverlayTextInterfaceConfig, self.callback)
00011         self.pub = rospy.Publisher(topic, OverlayText)
00012     def callback(self, config, level):
00013         self.config = config
00014         return config
00015     def publish(self, text):
00016         msg = OverlayText()
00017         msg.text = text
00018         msg.width = self.config.width
00019         msg.height = self.config.height
00020         msg.top = self.config.top
00021         msg.left = self.config.left
00022         msg.fg_color.a = self.config.fg_alpha
00023         msg.fg_color.r = self.config.fg_red
00024         msg.fg_color.g = self.config.fg_green
00025         msg.fg_color.b = self.config.fg_blue
00026         msg.bg_color.a = self.config.bg_alpha
00027         msg.bg_color.r = self.config.bg_red
00028         msg.bg_color.g = self.config.bg_green
00029         msg.bg_color.b = self.config.bg_blue
00030         msg.text_size = self.config.text_size
00031         self.pub.publish(msg)