listener_header.py

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#!/usr/bin/env python
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# Revision $Id: gossipbot 3529 2009-01-23 22:35:53Z sfkwc $

## listener_header listens to HeaderString messages published
## to the 'chatter_header' topic. 

import sys 

import rospy
from rospy_tutorials.msg import HeaderString

NAME = 'listener_header'

def callback(data):
    chatter = data.data
    header = data.header
    timestamp = header.stamp.to_sec()
    print rospy.get_caller_id(), header.seq, "I just heard that %s at %12f"%(chatter, timestamp)
    
def listener_header():
    rospy.Subscriber("chatter_header", HeaderString, callback)
    rospy.init_node(NAME, anonymous=True)
    rospy.spin()
        
if __name__ == '__main__':
    try:
        listener_header()
    except KeyboardInterrupt, e:
        pass
    print "exiting"