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listenerpublisher.py
Go to the documentation of this file.
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#!/usr/bin/env python
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2008, Willow Garage, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above
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# copyright notice, this list of conditions and the following
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# disclaimer in the documentation and/or other materials provided
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# with the distribution.
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# * Neither the name of Willow Garage, Inc. nor the names of its
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# contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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## Utility node for testing. Listens to chatter and when it gets a
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## message it starts rebroadcasting on 'listenerpublisher'. Unlike
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## the normal listener, listenerpublisher is NOT anonymous.
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from
__future__
import
print_function
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import
sys
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import
rospy
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from
std_msgs.msg
import
*
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_publishing =
False
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_pub =
None
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def
start_publishing
():
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global
_pub
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if
_pub
is
not
None
:
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return
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print(
"registering onto listenerpublisher"
)
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_pub = rospy.Publisher(
"listenerpublisher"
, String)
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def
callback
(data):
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print(rospy.get_caller_id(),
"I heard %s"
%data.data)
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start_publishing
()
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print(
"publishing"
, data.data)
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_pub.publish(String(data.data))
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def
listener
():
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rospy.init_node(
"listenerpublisher"
)
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rospy.Subscriber(
"chatter"
, String, callback)
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rospy.spin()
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if
__name__ ==
'__main__'
:
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listener
()
listenerpublisher.start_publishing
def start_publishing()
Definition:
listenerpublisher.py:46
listenerpublisher.listener
def listener()
Definition:
listenerpublisher.py:59
listenerpublisher.callback
def callback(data)
Definition:
listenerpublisher.py:53
msg
listener
Definition:
listener.py:1
test_rospy
Author(s): Ken Conley
autogenerated on Sun Feb 3 2019 03:30:22