sensor_info.py

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#! /usr/bin/python
 
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# Author: Blaise Gassend
 
# Publish information needed to interpret fingertep pressure sensor data:
# - Frame id
# - 
 
import roslib
roslib.load_manifest('fingertip_pressure')
import rospy
 
from fingertip_pressure.msg import PressureInfo
from fingertip_pressure.fingertip_geometry import *
 
 
class pressureInformationPublisher:
    def __init__(self, dest, frame0, frame1):
        self.info = []
        self.info.append(pressureInformation(frame0, 1))
        self.info.append(pressureInformation(frame1, -1))
        self.publisher = rospy.Publisher(dest, PressureInfo, latch=True, queue_size=1000)
 
    def publish(self):
        self.publisher.publish(self.info)
 
    
if __name__ == '__main__':
 
    #@todo it would be nice to read an xml configuration file to get these parameters.
    rospy.init_node('pressure_sensor_info')
    
    pip1=pressureInformationPublisher('pressure/r_gripper_motor_info', 
            'r_gripper_l_finger_tip_link', 'r_gripper_r_finger_tip_link')
    pip2=pressureInformationPublisher('pressure/l_gripper_motor_info', 
            'l_gripper_l_finger_tip_link', 'l_gripper_r_finger_tip_link')
 
    pip1.publish()
    pip2.publish()
    
    while not rospy.is_shutdown():
        rospy.spin()