00001 #!/usr/bin/python 00002 import roslib; roslib.load_manifest('rcommander_plain') 00003 import rcommander.rcommander as rc 00004 import rospy 00005 import tf 00006 00007 class MyRobotClass: 00008 def __init__(self): 00009 self.some_resource = "hello" 00010 00011 rospy.init_node('rcommander_plain', anonymous=True) 00012 robot = MyRobotClass() 00013 tf = tf.TransformListener() 00014 rc.run_rcommander(['default', 'default_frame', 'myrobot'], robot, tf)