turtle_tf_message_broadcaster.py
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00001 #!/usr/bin/env python
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00011 #  * Redistributions of source code must retain the above copyright
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00033 #!/usr/bin/env python
00034 
00035 import roslib
00036 roslib.load_manifest('turtle_tf')
00037 import rospy
00038 
00039 import turtlesim.msg
00040 import geometry_msgs.msg
00041 import turtlesim.srv
00042 from geometry_msgs.msg import PointStamped, Point
00043 from std_msgs.msg import Header
00044 
00045 
00046 class PointPublisher:
00047     def handle_turtle_pose(self, msg, turtlename):
00048         self.pub.publish(PointStamped(Header(0, rospy.rostime.get_rostime(), "/world"), Point(msg.x, msg.y, 0)))
00049 
00050     def __init__(self):
00051         self.turtlename = "turtle3"  # rospy.get_param('~turtle')
00052         self.sub = rospy.Subscriber('/%s/pose' % self.turtlename,
00053                                     turtlesim.msg.Pose,
00054                                     self.handle_turtle_pose,
00055                                     self.turtlename)
00056         self.pub = rospy.Publisher('turtle_point_stamped', PointStamped, queue_size=1)
00057 
00058 if __name__ == '__main__':
00059     rospy.init_node('tf_turtle_stamped_msg_publisher')
00060     rospy.wait_for_service('spawn')
00061     spawner = rospy.ServiceProxy('spawn', turtlesim.srv.Spawn)
00062     spawner(4, 2, 0, 'turtle3')
00063 
00064     pp = PointPublisher()
00065 
00066     pub = rospy.Publisher("turtle3/cmd_vel", geometry_msgs.msg.Twist, queue_size=1)
00067     while not rospy.is_shutdown():
00068         msg = geometry_msgs.msg.Twist()
00069         msg.linear.x = 1
00070         msg.angular.z = 1
00071         pub.publish(msg)
00072         rospy.sleep(rospy.Duration(0.1))


turtle_tf
Author(s): James Bowman, Isaac Saito
autogenerated on Thu Jun 6 2019 17:37:21