warner.py

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#! /usr/bin/python
#***********************************************************
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#* Author: Eitan Marder-Eppstein
#***********************************************************
PKG = "move_base"
NAME = "warner"

import rospy
import sys


def warner():
    rospy.init_node(NAME, anonymous=True)
    if not rospy.has_param('~string'):
        rospy.logerr("You must fill in the \"~string\" parameter to run this node, otherwise we don't know what to warn about. Exiting")
        sys.exit(-1)

    period = rospy.get_param('~period', 5.0)
    string = rospy.get_param('~string')

    r = rospy.Rate(1.0 / period)
    while not rospy.is_shutdown():
        rospy.logwarn("%s", string)
        r.sleep()

if __name__ == '__main__':
    try:
        warner()
    except rospy.ROSInterruptException:
        pass