view_frames.py
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00001 #!/usr/bin/env python
00002 # Copyright (c) 2008, Willow Garage, Inc.
00003 # All rights reserved.
00004 # 
00005 # Redistribution and use in source and binary forms, with or without
00006 # modification, are permitted provided that the following conditions are met:
00007 # 
00008 #     * Redistributions of source code must retain the above copyright
00009 #       notice, this list of conditions and the following disclaimer.
00010 #     * Redistributions in binary form must reproduce the above copyright
00011 #       notice, this list of conditions and the following disclaimer in the
00012 #       documentation and/or other materials provided with the distribution.
00013 #     * Neither the name of the Willow Garage, Inc. nor the names of its
00014 #       contributors may be used to endorse or promote products derived from
00015 #       this software without specific prior written permission.
00016 # 
00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027 # POSSIBILITY OF SUCH DAMAGE.
00028 
00029 # author: Wim Meeussen
00030 
00031 import rospy
00032 import tf2_py as tf2
00033 import yaml
00034 import subprocess
00035 from tf2_msgs.srv import FrameGraph
00036 import tf2_ros
00037 
00038 def main():
00039     rospy.init_node('view_frames')
00040     
00041     # listen to tf for 5 seconds
00042     rospy.loginfo('Listening to tf data during 5 seconds...')
00043     rospy.sleep(0.00001)
00044     buffer = tf2_ros.Buffer()
00045     listener = tf2_ros.TransformListener(buffer)
00046     rospy.sleep(5.0)
00047 
00048     rospy.loginfo('Generating graph in frames.pdf file...')
00049     rospy.wait_for_service('~tf2_frames')
00050     srv = rospy.ServiceProxy('~tf2_frames', FrameGraph)
00051     data = yaml.load(srv().frame_yaml)
00052     with open('frames.gv', 'w') as f:
00053         f.write(generate_dot(data))
00054     subprocess.Popen('dot -Tpdf frames.gv -o frames.pdf'.split(' ')).communicate()
00055 
00056 def generate_dot(data):
00057     if len(data) == 0:
00058         return 'digraph G { "No tf data received" }'
00059 
00060     dot = 'digraph G {\n'
00061     for el in data: 
00062         map = data[el]
00063         dot += '"'+map['parent']+'" -> "'+str(el)+'"'
00064         dot += '[label=" '
00065         dot += 'Broadcaster: '+map['broadcaster']+'\\n'
00066         dot += 'Average rate: '+str(map['rate'])+'\\n'
00067         dot += 'Buffer length: '+str(map['buffer_length'])+'\\n' 
00068         dot += 'Most recent transform: '+str(map['most_recent_transform'])+'\\n'
00069         dot += 'Oldest transform: '+str(map['oldest_transform'])+'\\n'
00070         dot += '"];\n'
00071         if not map['parent'] in data:
00072             root = map['parent']
00073     dot += 'edge [style=invis];\n'
00074     dot += ' subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";\n'
00075     dot += '"Recorded at time: '+str(rospy.Time.now().to_sec())+'"[ shape=plaintext ] ;\n'
00076     dot += '}->"'+root+'";\n}'
00077     return dot
00078 
00079 
00080 if __name__ == '__main__':
00081     main()


tf2_tools
Author(s): Wim Meeussen
autogenerated on Mon Oct 2 2017 02:25:06