channelecho.py
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00001 #! /usr/bin/env python
00002 # Copyright (c) 2009, Willow Garage, Inc.
00003 # All rights reserved.
00004 #
00005 # Redistribution and use in source and binary forms, with or without
00006 # modification, are permitted provided that the following conditions are met:
00007 #
00008 #     * Redistributions of source code must retain the above copyright
00009 #       notice, this list of conditions and the following disclaimer.
00010 #     * Redistributions in binary form must reproduce the above copyright
00011 #       notice, this list of conditions and the following disclaimer in the
00012 #       documentation and/or other materials provided with the distribution.
00013 #     * Neither the name of the Willow Garage, Inc. nor the names of its
00014 #       contributors may be used to endorse or promote products derived from
00015 #       this software without specific prior written permission.
00016 #
00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027 # POSSIBILITY OF SUCH DAMAGE.
00028 
00029 # Author: Stuart Glaser
00030 
00031 import roslib; roslib.load_manifest('realtime_tools')
00032 import rospy
00033 from realtime_tools.msg import BufferedData
00034 
00035 first_datum = True
00036 def dataCB(msg):
00037     global first_datum
00038     if first_datum:
00039         first_datum = False
00040         for i in range(len(msg.channels)):
00041             print "# %2d: %s" % ((i+1), msg.channels[i].name)
00042     for i in range(len(msg.channels[0].values)):
00043         print "%f" % msg.channels[0].values[i],
00044         for c in msg.channels[1:]:
00045             print ", %f" % c.values[i],
00046         print
00047 
00048 def main():
00049     topic = rospy.myargv()[1]
00050 
00051     rospy.init_node("channelecho", anonymous=True)
00052     rospy.Subscriber(topic, BufferedData, dataCB)
00053     rospy.spin()
00054 
00055 
00056 
00057 if __name__ == '__main__': main()
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realtime_tools
Author(s): Stuart Glaser
autogenerated on Tue Jan 8 2013 19:29:39