run_sensors.py

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#!/usr/bin/env python

# Echos all PR2 sensors to stress gazebo

PKG = 'pr2_pickup_object_demo'

import roslib; roslib.load_manifest(PKG)

from sensor_msgs.msg import LaserScan, Image, PointCloud
import rospy

def empty_cb(msg):
    pass

if __name__ == '__main__':
    rospy.init_node('gazebo_sink')

    wide_sub = rospy.Subscriber('wide_stereo/left/image_raw', Image, empty_cb)
    l_fa_sub = rospy.Subscriber('l_forearm_cam/image_raw', Image, empty_cb)
    r_fa_sub = rospy.Subscriber('r_forearm_cam/image_raw', Image, empty_cb)
    narrow_sub = rospy.Subscriber('narrow_stereo/left/image_raw', Image, empty_cb)
    cloud_sub = rospy.Subscriber('narrow_stereo/points', PointCloud, empty_cb)

    tilt_sub = rospy.Subscriber('tilt_scan', LaserScan, empty_cb)
    base_sub = rospy.Subscriber('base_scan', LaserScan, empty_cb)

    rospy.spin()