kinect_poller.py

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#! /usr/bin/python
import roslib
roslib.load_manifest("rospy")
roslib.load_manifest("sensor_msgs")
import rospy

from sensor_msgs.msg import PointCloud2

class Poller:
    def __init__(self):
        self.ind = 0
    def callback(self,msg):
        self.ind += 1

node_name = 'kinect_poller'
rospy.init_node(node_name)
pc_topic = rospy.get_param(node_name+'/topic_name')
poller = Poller()
rospy.sleep(1.0)
sub = rospy.Subscriber(pc_topic, PointCloud2, poller.callback)
r = rospy.Rate(100)
while not rospy.is_shutdown():
    if poller.ind != 0:
        break
    r.sleep()
print "Polling %s" % pc_topic
rospy.spin()