00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of Willow Garage, Inc. nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 00034 ## Utility node for testing. Listens to chatter and when it gets a 00035 ## message it starts rebroadcasting on 'listenerpublisher'. Unlike 00036 ## the normal listener, listenerpublisher is NOT anonymous. 00037 00038 from __future__ import print_function 00039 00040 import sys 00041 import rospy 00042 from std_msgs.msg import * 00043 00044 _publishing = False 00045 _pub = None 00046 def start_publishing(): 00047 global _pub 00048 if _pub is not None: 00049 return 00050 print("registering onto listenerpublisher") 00051 _pub = rospy.Publisher("listenerpublisher", String) 00052 00053 def callback(data): 00054 print(rospy.get_caller_id(), "I heard %s"%data.data) 00055 start_publishing() 00056 print("publishing", data.data) 00057 _pub.publish(String(data.data)) 00058 00059 def listener(): 00060 rospy.init_node("listenerpublisher") 00061 rospy.Subscriber("chatter", String, callback) 00062 rospy.spin() 00063 00064 if __name__ == '__main__': 00065 listener()