channelecho.py

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#! /usr/bin/env python
# Copyright (c) 2009, Willow Garage, Inc.
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# Author: Stuart Glaser

import roslib; roslib.load_manifest('realtime_tools')
import rospy
from realtime_tools.msg import BufferedData

first_datum = True
def dataCB(msg):
    global first_datum
    if first_datum:
        first_datum = False
        for i in range(len(msg.channels)):
            print "# %2d: %s" % ((i+1), msg.channels[i].name)
    for i in range(len(msg.channels[0].values)):
        print "%f" % msg.channels[0].values[i],
        for c in msg.channels[1:]:
            print ", %f" % c.values[i],
        print

def main():
    topic = rospy.myargv()[1]

    rospy.init_node("channelecho", anonymous=True)
    rospy.Subscriber(topic, BufferedData, dataCB)
    rospy.spin()



if __name__ == '__main__': main()