00001 #!/usr/bin/env python 00002 00003 # Software License Agreement (BSD License) 00004 # 00005 # Copyright (c) 2008, Willow Garage, Inc. 00006 # All rights reserved. 00007 # 00008 # Redistribution and use in source and binary forms, with or without 00009 # modification, are permitted provided that the following conditions 00010 # are met: 00011 # 00012 # * Redistributions of source code must retain the above copyright 00013 # notice, this list of conditions and the following disclaimer. 00014 # * Redistributions in binary form must reproduce the above 00015 # copyright notice, this list of conditions and the following 00016 # disclaimer in the documentation and/or other materials provided 00017 # with the distribution. 00018 # * Neither the name of Willow Garage, Inc. nor the names of its 00019 # contributors may be used to endorse or promote products derived 00020 # from this software without specific prior written permission. 00021 # 00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 # POSSIBILITY OF SUCH DAMAGE. 00034 # 00035 # Author: Brian Gerkey 00036 00037 PKG = 'topic_tools' 00038 00039 import rospy 00040 00041 from topic_tools.srv import MuxAdd 00042 from topic_tools.srv import MuxDelete 00043 from topic_tools.srv import MuxList 00044 from topic_tools.srv import MuxSelect 00045 from std_msgs.msg import String 00046 00047 def go(): 00048 rospy.init_node('chatter') 00049 00050 rospy.wait_for_service('mux/add', 5) 00051 rospy.wait_for_service('mux/delete', 5) 00052 rospy.wait_for_service('mux/list', 5) 00053 rospy.wait_for_service('mux/select', 5) 00054 00055 add_srv = rospy.ServiceProxy('mux/add', MuxAdd) 00056 delete_srv = rospy.ServiceProxy('mux/delete', MuxDelete) 00057 list_srv = rospy.ServiceProxy('mux/list', MuxList) 00058 select_srv = rospy.ServiceProxy('mux/select', MuxSelect) 00059 00060 b_pub = rospy.Publisher('b', String) 00061 00062 # Execute the sequence given in #2863 00063 select_srv('c') 00064 delete_srv('b') 00065 add_srv('b') 00066 select_srv('b') 00067 00068 # Now start publishing on b 00069 while not rospy.is_shutdown(): 00070 b_pub.publish('foo') 00071 rospy.sleep(0.2) 00072 00073 if __name__ == "__main__": 00074 go()