00001
00002 import roslib
00003 roslib.load_manifest('rxtools')
00004
00005
00006 roslib.load_manifest('geometry_msgs')
00007 import rospy
00008
00009 from geometry_msgs.msg import Vector3Stamped
00010
00011 import numpy as np
00012
00013 def main():
00014 rospy.init_node('rxplot_stress_test_datagen')
00015 r = rospy.Rate(50)
00016 pub = rospy.Publisher('data', Vector3Stamped)
00017 t_start = rospy.Time.now()
00018 T = 5.0
00019 msg = Vector3Stamped()
00020 while not rospy.is_shutdown():
00021 msg.header.stamp = rospy.Time.now()
00022 t = (msg.header.stamp - t_start).to_sec()
00023 msg.vector.x = np.sin(t/T*2*np.pi)
00024 msg.vector.y = np.cos(t/T*2*np.pi)
00025 msg.vector.z = msg.vector.x**2 - msg.vector.y**2
00026 pub.publish(msg)
00027 r.sleep()
00028
00029 if __name__ == "__main__":
00030 main()