turtle_tf2_message_broadcaster.py
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00001 #!/usr/bin/env python
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00004 # Copyright (c) 2008, Willow Garage, Inc.
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00033 #!/usr/bin/env python
00034 
00035 import rospy
00036 
00037 import turtlesim.msg
00038 import geometry_msgs.msg
00039 import turtlesim.srv
00040 from geometry_msgs.msg import PointStamped, Point
00041 from std_msgs.msg import Header
00042 
00043 
00044 class PointPublisher:
00045     def handle_turtle_pose(self, msg, turtlename):
00046         self.pub.publish(PointStamped(Header(0, rospy.rostime.get_rostime(), "world"), Point(msg.x, msg.y, 0)))
00047 
00048     def __init__(self):
00049         self.turtlename = "turtle3"  # rospy.get_param('~turtle')
00050         self.sub = rospy.Subscriber('/%s/pose' % self.turtlename,
00051                                     turtlesim.msg.Pose,
00052                                     self.handle_turtle_pose,
00053                                     self.turtlename)
00054         self.pub = rospy.Publisher('turtle_point_stamped', PointStamped, queue_size=1)
00055 
00056 if __name__ == '__main__':
00057     rospy.init_node('turtle_tf2_msg_broadcaster')
00058     rospy.wait_for_service('spawn')
00059     spawner = rospy.ServiceProxy('spawn', turtlesim.srv.Spawn)
00060     spawner(4, 2, 0, 'turtle3')
00061 
00062     pp = PointPublisher()
00063 
00064     pub = rospy.Publisher("turtle3/cmd_vel", geometry_msgs.msg.Twist, queue_size=1)
00065     while not rospy.is_shutdown():
00066         msg = geometry_msgs.msg.Twist()
00067         msg.linear.x = 1
00068         msg.angular.z = 1
00069         pub.publish(msg)
00070         rospy.sleep(rospy.Duration(0.1))


turtle_tf2
Author(s): Denis Štogl
autogenerated on Thu Aug 10 2017 02:47:28