00001
00002
00003 import roslib; roslib.load_manifest('visualization_marker_tutorials')
00004 from geometry_msgs.msg import Pose
00005 from geometry_msgs.msg import PoseArray
00006 import rospy
00007
00008 topic = 'test_poses'
00009 publisher = rospy.Publisher(topic, PoseArray)
00010
00011 rospy.init_node('posearray')
00012
00013 while not rospy.is_shutdown():
00014
00015 ps = PoseArray()
00016 ps.header.frame_id = "/base_link"
00017 ps.header.stamp = rospy.Time.now()
00018
00019 pose = Pose()
00020 pose.position.x = 2
00021 pose.position.y = 2
00022 pose.position.z = 0
00023 pose.orientation.x = 0
00024 pose.orientation.y = 0
00025 pose.orientation.z = .717
00026 pose.orientation.w = .717
00027
00028 ps.poses.append( pose )
00029
00030 pose = Pose()
00031 pose.position.x = 1
00032 pose.position.y = 1
00033 pose.position.z = 0
00034 pose.orientation.x = 0
00035 pose.orientation.y = 0
00036 pose.orientation.z = 0
00037 pose.orientation.w = 1
00038
00039 ps.poses.append( pose )
00040
00041 publisher.publish( ps )
00042
00043 rospy.sleep(0.1)
