print_odometry.py
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00001 #!/usr/bin/python
00002 
00003 # print out Nao odometry data to screen and file "odom.txt"
00004 # e.g. for quick Gnuplot plotting
00005 
00006 import roslib
00007 roslib.load_manifest('nao_remote')
00008 import rospy
00009 
00010 from nao_msgs.msg import TorsoOdometry
00011 from nav_msgs.msg import Odometry
00012 
00013 def handleTorsoOdom(data):
00014         
00015         print("%f %f %f %f %f %f" % (data.x, data.y,data.z, data.wx,data.wy, data.wz))
00016         global file
00017         file.write("%f %f %f %f %f %f\n" % (data.x, data.y,data.z, data.wx,data.wy, data.wz))
00018         
00019         
00020 
00021 if __name__ == '__main__':
00022         
00023         rospy.init_node('torso2odom')
00024         odomPub = rospy.Publisher("odometry", Odometry)
00025         rospy.Subscriber("torso_odometry", TorsoOdometry, handleTorsoOdom)
00026         
00027         file = open('odom.txt', 'w')
00028         
00029         rospy.spin()
00030 
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nao_remote
Author(s): Armin Hornung
autogenerated on Tue Oct 15 2013 10:07:07