subtopic_forwarder_node.py

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#! /usr/bin/python
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#* Author: Eitan Marder-Eppstein
#***********************************************************
PKG = 'move_base'
NAME = 'subtopic_forwarder_node'

import roslib; roslib.load_manifest(PKG)

import rospy
import sys

from subtopic_forwarder import SubtopicForwarder
if __name__ == '__main__':
  rospy.init_node(NAME, anonymous=True)

  if not rospy.has_param("~source_topic") or not rospy.has_param("~destination_topic"):
    rospy.logerr("You must specify both the \"~source_topic\" and \"~destination_topic\" parameters to run this node and you have not. Exiting")
    sys.exit(-1)

  topic = rospy.resolve_name(rospy.get_param('~source_topic'))
  remapped_topic = rospy.resolve_name(rospy.get_param('~destination_topic'))

  sf = SubtopicForwarder(topic, remapped_topic)

  rospy.spin()