ReceiveFeatures.py

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import array
import pickle
 
import rospy
from rose2.msg import ROSE2Features
from pprint import pprint
 
 
#Node to debug FeatureExtractorrose2. It receive features from that node, unpickles them and prints them.
class ReceiverFeatures:
    def __init__(self):
        rospy.init_node('FeatureReceiver')
        print('Waiting for features...')
        rospy.Subscriber('features_ROSE2', ROSE2Features, self.processFeatures)
        rospy.spin()
 
    def processFeatures(self, features):
        print('EXTENDED LINES')
        for l in features.lines:
            line = pickle.loads(array.array('b',l.bytes))
            pprint(vars(line))
        print('EDGES')
        for e in features.edges:
            edge = pickle.loads(array.array('b',e.bytes))
            pprint(vars(edge))
        print('ROOMS')
        for r in features.rooms:
            print(pickle.loads(array.array('b',r.bytes)))
        print('CONTOUR')
        print(features.contour)
 
if __name__ == '__main__':
 
    f = ReceiverFeatures()