view_frames.py

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#!/usr/bin/env python3
# Copyright (c) 2008, Willow Garage, Inc.
# All rights reserved.
# 
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# 
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of the Willow Garage, Inc. nor the names of its
#       contributors may be used to endorse or promote products derived from
#       this software without specific prior written permission.
# 
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
 
# author: Wim Meeussen
 
import rospy
import tf2_py as tf2
import yaml
import subprocess
from tf2_msgs.srv import FrameGraph
import tf2_ros
 
def main():
    rospy.init_node('view_frames')
    
    # listen to tf for 5 seconds
    rospy.loginfo('Listening to tf data during 5 seconds...')
    rospy.sleep(0.00001)
    buffer = tf2_ros.Buffer()
    listener = tf2_ros.TransformListener(buffer)
    rospy.sleep(5.0)
 
    rospy.loginfo('Generating graph in frames.pdf file...')
    rospy.wait_for_service('~tf2_frames')
    srv = rospy.ServiceProxy('~tf2_frames', FrameGraph)
    data = yaml.safe_load(srv().frame_yaml)
    with open('frames.gv', 'w') as f:
        f.write(generate_dot(data))
    subprocess.Popen('dot -Tpdf frames.gv -o frames.pdf'.split(' ')).communicate()
 
def generate_dot(data):
    if len(data) == 0:
        return 'digraph G { "No tf data received" }'
 
    dot = 'digraph G {\n'
    for el in data: 
        map = data[el]
        dot += '"'+map['parent']+'" -> "'+str(el)+'"'
        dot += '[label=" '
        dot += 'Broadcaster: '+map['broadcaster']+'\\n'
        dot += 'Average rate: '+str(map['rate'])+'\\n'
        dot += 'Buffer length: '+str(map['buffer_length'])+'\\n' 
        dot += 'Most recent transform: '+str(map['most_recent_transform'])+'\\n'
        dot += 'Oldest transform: '+str(map['oldest_transform'])+'\\n'
        dot += '"];\n'
        if not map['parent'] in data:
            root = map['parent']
    dot += 'edge [style=invis];\n'
    dot += ' subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";\n'
    dot += '"Recorded at time: '+str(rospy.Time.now().to_sec())+'"[ shape=plaintext ] ;\n'
    dot += '}->"'+root+'";\n}'
    return dot
 
 
if __name__ == '__main__':
    main()