people_velocity_tracker: static.py Source File

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00001 #!/usr/bin/python
00002 
00003 import roslib; roslib.load_manifest('people_velocity_tracker')
00004 import rospy
00005 import sys
00006 from people_msgs.msg import Person, People
00007 
00008 class VelocityTracker:
00009     def __init__(self):
00010         self.ppub = rospy.Publisher('/people', People)
00011 
00012     def spin(self):
00013         rate = rospy.Rate(10)
00014         while not rospy.is_shutdown():
00015             pv = Person()
00016             pl = People()
00017             pl.header.stamp = rospy.Time.now()
00018             pl.header.frame_id = '/base_link'
00019             pv.position.x = float(sys.argv[1])
00020             pv.position.y = float(sys.argv[2])
00021             pv.position.z = .5
00022             pv.velocity.x = float(sys.argv[3])
00023             pv.velocity.y = float(sys.argv[4])
00024             pv.name = 'asdf'
00025             pv.reliability = .90       
00026             pl.people.append(pv)
00027             
00028             self.ppub.publish(pl)
00029             rate.sleep()
00030 
00031 rospy.init_node("people_velocity_tracker")
00032 vt = VelocityTracker()
00033 vt.spin()