Go to the documentation of this file.00001
00002 import roslib
00003 roslib.load_manifest('ar_kinect')
00004 from geometry_msgs.msg import Pose2D, PoseStamped, Pose
00005 from ar_pose.msg import ARMarkers
00006 from tf import TransformListener
00007 from math import cos, sin, pi
00008 from ar_pose.msg import ARMarkers
00009 from nav_msgs.msg import OccupancyGrid, MapMetaData
00010
00011 import rospy
00012 import tf
00013 from std_msgs.msg import Float64
00014
00015 def callback(data):
00016 pub.publish(data)
00017
00018 if __name__ == '__main__':
00019 rospy.init_node('send_map_coordinates')
00020 pub = rospy.Publisher('map', OccupancyGrid)
00021 rospy.Subscriber('drawmap_coord', OccupancyGrid, callback)
00022 rospy.spin()