Go to the documentation of this file.00001
00002
00003 from geometry_msgs.msg import PoseArray
00004 from jsk_topic_tools import ConnectionBasedTransport
00005 import rospy
00006
00007 from jsk_recognition_msgs.msg import PeoplePoseArray
00008
00009
00010 class PeoplePoseArrayToPoseArray(ConnectionBasedTransport):
00011
00012 def __init__(self):
00013 super(PeoplePoseArrayToPoseArray, self).__init__()
00014 self.pub = self.advertise('~output', PoseArray, queue_size=1)
00015
00016 def subscribe(self):
00017 self.sub = rospy.Subscriber('~input', PeoplePoseArray, self._cb)
00018
00019 def unsubscribe(self):
00020 self.sub.unregister()
00021
00022 def _cb(self, msg):
00023 out_msg = PoseArray()
00024 for person_pose in msg.poses:
00025 out_msg.poses.extend(person_pose.poses)
00026 out_msg.header = msg.header
00027 self.pub.publish(out_msg)
00028
00029
00030 if __name__ == '__main__':
00031 rospy.init_node('people_pose_array_to_pose_array')
00032 app = PeoplePoseArrayToPoseArray()
00033 rospy.spin()