subtopic_forwarder_node.py

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

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()