__init__.py

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# Revision $Id: __init__.py 13195 2011-02-13 20:09:44Z kwc $

import roslib; roslib.load_manifest('rosh_geometry')

import rosh.plugin
from rosh_geometry.tf_frame import TFFrames
from rosh_geometry.geometry import Point, Quaternion, PointStamped, PoseStamped, QuaternionStamped, Vector3Stamped, header

_loaded_symbols = None
def rosh_plugin_load(plugin_context, globals_=None):
    """
    Initialize rosh_geometry plugin
    """
    global _loaded_symbols
    if rosh.plugin.reentrant_load(_loaded_symbols, globals_):
        return

    try:
        #TODO: log this somewhere
        
        # do not initialize if a master is not active. we should also
        # test for the presence of an initialized node.
        if not plugin_context.ctx.master.is_online():
            print 'Cannot load geometry without roscore running.'
            return
    except:
        return
        
    # NOTE: this can exception out if tf is broken. Should we catch/recast it?
    _loaded_symbols = {'transforms' : TFFrames(plugin_context.ctx, plugin_context.rosh_lock),
                       'header': header,
                       'Point' :Point,
                       'Quaternion': Quaternion,
                       'PointStamped': PointStamped,
                       'PoseStamped': PoseStamped,
                       'QuaternionStamped': QuaternionStamped,
                       'Vector3Stamped': Vector3Stamped
      }
    rosh.plugin.globals_load(plugin_context, globals_, _loaded_symbols)