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 13195 2011-02-13 20:09:44Z kwc $ 00034 00035 import roslib; roslib.load_manifest('rosh_geometry') 00036 00037 import rosh.plugin 00038 from rosh_geometry.tf_frame import TFFrames 00039 from rosh_geometry.geometry import Point, Quaternion, PointStamped, PoseStamped, QuaternionStamped, Vector3Stamped, header 00040 00041 _loaded_symbols = None 00042 def rosh_plugin_load(plugin_context, globals_=None): 00043 """ 00044 Initialize rosh_geometry plugin 00045 """ 00046 global _loaded_symbols 00047 if rosh.plugin.reentrant_load(_loaded_symbols, globals_): 00048 return 00049 00050 try: 00051 #TODO: log this somewhere 00052 00053 # do not initialize if a master is not active. we should also 00054 # test for the presence of an initialized node. 00055 if not plugin_context.ctx.master.is_online(): 00056 print 'Cannot load geometry without roscore running.' 00057 return 00058 except: 00059 return 00060 00061 # NOTE: this can exception out if tf is broken. Should we catch/recast it? 00062 _loaded_symbols = {'transforms' : TFFrames(plugin_context.ctx, plugin_context.rosh_lock), 00063 'header': header, 00064 'Point' :Point, 00065 'Quaternion': Quaternion, 00066 'PointStamped': PointStamped, 00067 'PoseStamped': PoseStamped, 00068 'QuaternionStamped': QuaternionStamped, 00069 'Vector3Stamped': Vector3Stamped 00070 } 00071 rosh.plugin.globals_load(plugin_context, globals_, _loaded_symbols)