renew_tracking.py
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00001 #!/usr/bin/env python
00002 import rospy
00003 
00004 PKG='jsk_pcl_ros'
00005 
00006 import imp
00007 try:
00008     imp.find_module(PKG)
00009 except:
00010     import roslib;roslib.load_manifest(PKG)
00011 
00012 from sensor_msgs.msg import PointCloud2
00013 from jsk_recognition_msgs.srv import SetPointCloud2
00014 
00015 def cloud_cb(cloud):
00016 
00017     try:
00018         setCloud = rospy.ServiceProxy('particle_filter_tracker/renew_model', SetPointCloud2)
00019         setCloud(cloud)
00020         rospy.loginfo("Success renew_tracking service");
00021     except rospy.ServiceException, e:
00022             rospy.loginfo("Failed to call renew_tracking service")
00023 
00024 if __name__ == "__main__":
00025     rospy.init_node('send_renew_model', anonymous=True)
00026     rospy.wait_for_service('particle_filter_tracker/renew_model')
00027     rospy.Subscriber("selected_pointcloud", PointCloud2, cloud_cb)
00028     rospy.spin()


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:44