00001
00002
00003 load('rosh_geometry', globals())
00004 r = Rate(1.0)
00005 i = 0
00006 rostype(topics.save_image, msg.kidnapped_robot.SavePlace)
00007 rostype(topics.match, msg.kidnapped_robot.MatchRequest)
00008 rostype(topics.transform_matches, msg.kidnapped_robot.MatchResult)
00009
00010 while ok():
00011 r.sleep()
00012 loginfo('Last match result is %s', topics.transform_matches[0])
00013 i += 1
00014 topics.save_image(now(), i)
00015 loginfo('Saving image %s at %s', i, transforms.base_footprint('odom_combined').pose)
00016 topics.match(now())
00017
