00001 # Software License Agreement (BSD License) 00002 # 00003 # Copyright (c) 2010, Willow Garage, Inc. 00004 # All rights reserved. 00005 # 00006 # Redistribution and use in source and binary forms, with or without 00007 # modification, are permitted provided that the following conditions 00008 # are met: 00009 # 00010 # * Redistributions of source code must retain the above copyright 00011 # notice, this list of conditions and the following disclaimer. 00012 # * Redistributions in binary form must reproduce the above 00013 # copyright notice, this list of conditions and the following 00014 # disclaimer in the documentation and/or other materials provided 00015 # with the distribution. 00016 # * Neither the name of Willow Garage, Inc. nor the names of its 00017 # contributors may be used to endorse or promote products derived 00018 # from this software without specific prior written permission. 00019 # 00020 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 # POSSIBILITY OF SUCH DAMAGE. 00032 # 00033 # Revision $Id: __init__.py 11149 2010-09-18 04:17:59Z kwc $ 00034 00035 import roslib; roslib.load_manifest('rosh_common') 00036 00037 import rosh.plugin 00038 from rosh_common.action import Actions 00039 from rosh_common.camera import Cameras 00040 00041 _loaded_symbols = None 00042 00043 PLUGIN_CAMERAS_SHOW = 'plugin-rosh_common-cameras_show' 00044 00045 def rosh_plugin_load(plugin_context, globals_=None): 00046 """ 00047 Initialize rosh_common plugin 00048 """ 00049 global _loaded_symbols 00050 if rosh.plugin.reentrant_load(_loaded_symbols, globals_): 00051 return 00052 00053 cameras = Cameras(plugin_context.ctx, plugin_context.rosh_lock) 00054 _loaded_symbols = { 00055 'actions': Actions(plugin_context.ctx, plugin_context.rosh_lock), 00056 'cameras': Cameras(plugin_context.ctx, plugin_context.rosh_lock) 00057 } 00058 rosh.plugin.globals_load(plugin_context, globals_, _loaded_symbols) 00059 00060 plugin = rosh.plugin.PluginData() 00061 plugin.add_api(PLUGIN_CAMERAS_SHOW, cameras._register_show_handler) 00062 #TODO: register nav_msgs handler 00063 #plugin.add_handler() 00064 return plugin 00065 00066 00067 #TODO: convert to plugin 00068 def show_occ_grid(ns_obj): 00069 # internal py_image_view can convert occ grids to images 00070 mod = os.path.join(get_pkg_dir('rosh'), 'src', 'rosh', 'impl', 'py_image_view.py') 00071 #TODO: convert to launch instead 00072 rosh.impl.proc.run(ns_obj._config, ['python', mod, '--map', '-t', ns_obj._name]) 00073 print "running py_image_viewer, this may be slow over a wireless network" 00074