subtopic_forwarder_node.py
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00001 #! /usr/bin/python
00002 #***********************************************************
00003 #* Software License Agreement (BSD License)
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00005 #*  Copyright (c) 2009, Willow Garage, Inc.
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00008 #*  Redistribution and use in source and binary forms, with or without
00009 #*  modification, are permitted provided that the following conditions
00010 #*  are met:
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00012 #*   * Redistributions of source code must retain the above copyright
00013 #*     notice, this list of conditions and the following disclaimer.
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00022 #*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 #* Author: Eitan Marder-Eppstein
00036 #***********************************************************
00037 PKG = 'move_base'
00038 NAME = 'subtopic_forwarder_node'
00039 
00040 import roslib; roslib.load_manifest(PKG)
00041 
00042 import rospy
00043 import sys
00044 
00045 from subtopic_forwarder import SubtopicForwarder
00046 if __name__ == '__main__':
00047   rospy.init_node(NAME, anonymous=True)
00048 
00049   if not rospy.has_param("~source_topic") or not rospy.has_param("~destination_topic"):
00050     rospy.logerr("You must specify both the \"~source_topic\" and \"~destination_topic\" parameters to run this node and you have not. Exiting")
00051     sys.exit(-1)
00052 
00053   topic = rospy.resolve_name(rospy.get_param('~source_topic'))
00054   remapped_topic = rospy.resolve_name(rospy.get_param('~destination_topic'))
00055 
00056   sf = SubtopicForwarder(topic, remapped_topic)
00057 
00058   rospy.spin()
00059 


move_base
Author(s): Eitan Marder-Eppstein
autogenerated on Sat Dec 28 2013 17:14:19