subtopic_forwarder_node.py
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00001 #! /usr/bin/python
00002 #***********************************************************
00003 #* Software License Agreement (BSD License)
00004 #*
00005 #*  Copyright (c) 2009, Willow Garage, Inc.
00006 #*  All rights reserved.
00007 #*
00008 #*  Redistribution and use in source and binary forms, with or without
00009 #*  modification, are permitted provided that the following conditions
00010 #*  are met:
00011 #*
00012 #*   * Redistributions of source code must retain the above copyright
00013 #*     notice, this list of conditions and the following disclaimer.
00014 #*   * Redistributions in binary form must reproduce the above
00015 #*     copyright notice, this list of conditions and the following
00016 #*     disclaimer in the documentation and/or other materials provided
00017 #*     with the distribution.
00018 #*   * Neither the name of Willow Garage, Inc. nor the names of its
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00020 #*     from this software without specific prior written permission.
00021 #*
00022 #*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 #*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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00035 #* Author: Eitan Marder-Eppstein
00036 #***********************************************************
00037 PKG = 'move_base'
00038 NAME = 'subtopic_forwarder_node'
00039 
00040 import rospy
00041 import sys
00042 
00043 from subtopic_forwarder import SubtopicForwarder
00044 if __name__ == '__main__':
00045     rospy.init_node(NAME, anonymous=True)
00046 
00047     if not rospy.has_param("~source_topic") or not rospy.has_param("~destination_topic"):
00048         rospy.logerr("You must specify both the \"~source_topic\" and \"~destination_topic\" parameters to run this node and you have not. Exiting")
00049         sys.exit(-1)
00050 
00051     topic = rospy.resolve_name(rospy.get_param('~source_topic'))
00052     remapped_topic = rospy.resolve_name(rospy.get_param('~destination_topic'))
00053 
00054     sf = SubtopicForwarder(topic, remapped_topic)
00055 
00056     rospy.spin()


move_base
Author(s): Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:07:31