00001
00002 import sys
00003
00004 if len(sys.argv) < 5:
00005 print "usage: adjust_rviz_config.py in_file out_file stereo nav (where stereo and nav are true or false)"
00006 sys.exit(1)
00007 stereo = sys.argv[3]
00008 nav = sys.argv[4]
00009 if stereo not in ['true', 'false']:
00010 print "stereo was not true or false! usage: adjust_rviz_config.py in_file out_file stereo nav (where stereo and nav are true or false)"
00011 sys.exit(1)
00012 if nav not in ['true', 'false']:
00013 print "nav was not true or false! usage: adjust_rviz_config.py in_file out_file stereo nav (where stereo and nav are true or false)"
00014 sys.exit(1)
00015
00016 import os
00017 home_path = os.environ["HOME"]
00018 lines = file(sys.argv[1]).readlines()
00019 outfile = file( sys.argv[2], 'w')
00020
00021 outfile.write('### THIS FILE AUTO-GENERATED FROM config/pr2_interactive_manipulation_base.vcg\n')
00022 outfile.write('### IT IS SUGGESTED YOU DO NOT MODIFY THIS FILE.\n')
00023 for line in lines:
00024 if line[:13] == 'Fixed\ Frame=':
00025 if nav == 'true':
00026 outfile.write('Fixed\ Frame=/map\n')
00027 else:
00028 outfile.write('Fixed\ Frame=/odom_combined\n')
00029 elif 'Publish\ Click\ Camera\ Display.Image\ Topic' in line:
00030 if stereo == 'true':
00031 outfile.write('Publish\ Click\ Camera\ Display.Image\ Topic=/wide_stereo/left/image_color\n')
00032 else:
00033 outfile.write('Publish\ Click\ Camera\ Display.Image\ Topic=/camera/rgb/image_color\n')
00034 else:
00035 outfile.write(line)
00036 outfile.close()
