__init__.py
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00033 # Revision $Id: __init__.py 13195 2011-02-13 20:09:44Z kwc $
00034 
00035 import roslib; roslib.load_manifest('rosh_geometry')
00036 
00037 import rosh.plugin
00038 from rosh_geometry.tf_frame import TFFrames
00039 from rosh_geometry.geometry import Point, Quaternion, PointStamped, PoseStamped, QuaternionStamped, Vector3Stamped, header
00040 
00041 _loaded_symbols = None
00042 def rosh_plugin_load(plugin_context, globals_=None):
00043     """
00044     Initialize rosh_geometry plugin
00045     """
00046     global _loaded_symbols
00047     if rosh.plugin.reentrant_load(_loaded_symbols, globals_):
00048         return
00049 
00050     try:
00051         #TODO: log this somewhere
00052         
00053         # do not initialize if a master is not active. we should also
00054         # test for the presence of an initialized node.
00055         if not plugin_context.ctx.master.is_online():
00056             print 'Cannot load geometry without roscore running.'
00057             return
00058     except:
00059         return
00060         
00061     # NOTE: this can exception out if tf is broken. Should we catch/recast it?
00062     _loaded_symbols = {'transforms' : TFFrames(plugin_context.ctx, plugin_context.rosh_lock),
00063                        'header': header,
00064                        'Point' :Point,
00065                        'Quaternion': Quaternion,
00066                        'PointStamped': PointStamped,
00067                        'PoseStamped': PoseStamped,
00068                        'QuaternionStamped': QuaternionStamped,
00069                        'Vector3Stamped': Vector3Stamped
00070       }
00071     rosh.plugin.globals_load(plugin_context, globals_, _loaded_symbols)


rosh_geometry
Author(s): Ken Conley
autogenerated on Fri Aug 28 2015 12:40:19