rviz: send_odometry.py Source File

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00001 #!/usr/bin/env python
00002 
00003 import roslib; roslib.load_manifest('rviz')
00004 from nav_msgs.msg import Odometry
00005 import rospy
00006 
00007 topic = 'test_odometry'
00008 publisher = rospy.Publisher(topic, Odometry)
00009 
00010 rospy.init_node('send_odometry')
00011 
00012 y = 0
00013 while not rospy.is_shutdown():
00014 
00015    odo = Odometry()
00016    odo.header.frame_id = "/base_link"
00017    odo.header.stamp = rospy.Time.now()
00018    
00019    odo.pose.pose.position.x = 0
00020    odo.pose.pose.position.y = y
00021    odo.pose.pose.position.z = 0
00022 
00023    odo.pose.pose.orientation.x = 0
00024    odo.pose.pose.orientation.y = 0
00025    odo.pose.pose.orientation.z = 0
00026    odo.pose.pose.orientation.w = 1
00027 
00028    publisher.publish( odo )
00029 
00030    y = y + .2
00031    if y > 5:
00032       y = -5
00033 
00034    rospy.sleep(0.1)