v01

thirdparty/ros/ros_comm/test/test_rospy/nodes/listener.py

@@ -0,0 +1,64 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Revision $Id: gossipbot.py 1013 2008-05-21 01:08:56Z sfkwc $
+
+## Simple talker demo that listens to std_msgs/Strings published 
+## to the 'chatter' topic
+
+from __future__ import print_function
+
+import sys
+
+import rospy
+from std_msgs.msg import String
+
+def callback(data):
+    print(rospy.get_caller_id(), "I heard %s"%data.data)
+    
+def listener():
+
+    # in ROS, nodes are unique named. If two nodes with the same
+    # node are launched, the previous one is kicked off. The 
+    # anonymous=True flag means that rospy will choose a unique
+    # name for our 'talker' node so that multiple talkers can
+    # run simultaenously.
+    rospy.init_node('listener', anonymous=True)
+
+    rospy.Subscriber("chatter", String, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    rospy.spin()
+        
+if __name__ == '__main__':
+    listener()

thirdparty/ros/ros_comm/test/test_rospy/nodes/listener_once.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+## Simple talker demo that listens to std_msgs/Strings published
+## to the 'chatter' topic and shuts down afterwards
+
+from __future__ import print_function
+
+import rospy
+from std_msgs.msg import String
+
+
+def callback(data):
+    print(rospy.get_caller_id(), "I heard %s" % data.data)
+    rospy.signal_shutdown("Received %s, exiting now"  % data.data)
+
+
+def listener():
+    rospy.init_node('listener', anonymous=True)
+    rospy.sleep(rospy.get_param('delay', 0.0))
+    rospy.Subscriber("chatter", String, callback)
+    rospy.spin()
+
+
+if __name__ == '__main__':
+    listener()

thirdparty/ros/ros_comm/test/test_rospy/nodes/listenerpublisher.py

@@ -0,0 +1,65 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+## Utility node for testing. Listens to chatter and when it gets a
+## message it starts rebroadcasting on 'listenerpublisher'.  Unlike
+## the normal listener, listenerpublisher is NOT anonymous.
+
+from __future__ import print_function
+
+import sys
+import rospy
+from std_msgs.msg import *
+
+_publishing = False
+_pub = None
+def start_publishing():
+    global _pub
+    if _pub is not None:
+        return
+    print("registering onto listenerpublisher")
+    _pub = rospy.Publisher("listenerpublisher", String)
+    
+def callback(data):
+    print(rospy.get_caller_id(), "I heard %s"%data.data)
+    start_publishing()
+    print("publishing", data.data)
+    _pub.publish(String(data.data))
+    
+def listener():
+    rospy.init_node("listenerpublisher")
+    rospy.Subscriber("chatter", String, callback)
+    rospy.spin()
+        
+if __name__ == '__main__':
+    listener()

thirdparty/ros/ros_comm/test/test_rospy/nodes/listenerpublisher_embed.py

@@ -0,0 +1,66 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+## Utility node for testing. Listens to chatter and when it gets a
+## message it starts rebroadcasting on 'listenerpublisher'.  Unlike
+## the normal listener, listenerpublisher is NOT anonymous.
+
+from __future__ import print_function
+
+import sys
+
+import rospy
+from test_rospy.msg import EmbedTest
+
+_publishing = False
+_pub = None
+def start_publishing():
+    global _pub
+    if _pub is not None:
+        return
+    print("registering onto listenerpublisher")
+    _pub = rospy.Publisher("listenerpublisher", EmbedTest)
+    
+def callback(data):
+    print(rospy.get_caller_id(), "I heard %s, %s, %s"%(data.str1.data, data.int1.data, data.val.val))
+    start_publishing()
+    print("re-publishing")
+    _pub.publish(data)
+    
+def listener():
+    rospy.init_node("listenerpublisher_embed")
+    rospy.Subscriber("chatter", EmbedTest, callback)
+    rospy.spin()
+        
+if __name__ == '__main__':
+    listener()

thirdparty/ros/ros_comm/test/test_rospy/nodes/publish_on_shutdown.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+## Simple talker demo that published std_msgs/Strings messages
+## to the 'chatter' topic
+
+import rospy
+from std_msgs.msg import String
+
+pub = None
+# publish a message to subscribers when we die
+def talker_shutdown():
+    print("I'm dead!")
+    pub.publish("I'm dead!")
+    
+def talker():
+    global pub
+    pub = rospy.Publisher('chatter', String)
+    rospy.init_node('talker', anonymous=True)
+
+    # register talker_shutdown() to be called when rospy exits
+    rospy.on_shutdown(talker_shutdown)
+    
+    import time
+    time.sleep(2.0)
+
+    rospy.signal_shutdown('test done')
+        
+if __name__ == '__main__':
+    talker()

thirdparty/ros/ros_comm/test/test_rospy/nodes/talker

@@ -0,0 +1,54 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+## Copy of talker demo for testing purposes. Publishes String to 'chatter'
+
+NAME = 'talker'
+
+import sys
+import rospy
+from std_msgs.msg import *
+
+def talker():
+    pub = rospy.Publisher("chatter", String)
+    rospy.init_node(NAME, anonymous=True)
+    count = 0
+    while not rospy.is_shutdown():
+        str = "hello world %d"%count
+        print str
+        pub.publish(String(str))
+        count += 1
+        rospy.sleep(0.01)
+        
+if __name__ == '__main__':
+    talker()

thirdparty/ros/ros_comm/test/test_rospy/nodes/talker.py

@@ -0,0 +1,67 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+## Simple talker demo that publishes std_msg/Strings to the 'chatter' topic
+
+PKG = 'test_rospy' # this package name
+NAME = 'talker'
+
+import sys
+import time
+
+import rospy
+from std_msgs.msg import String
+
+def talker():
+    # create our publish handle
+    pub = rospy.Publisher('chatter', String)
+
+    # in ROS, nodes are unique named. If two nodes with the same
+    # node are launched, the previous one is kicked off. The 
+    # anonymous=True flag means that rospy will choose a unique
+    # name for our 'talker' node so that multiple talkers can
+    # run simultaenously.
+    rospy.init_node('talker', anonymous=True)
+
+    count = 0
+    while not rospy.is_shutdown():
+        start = time.time()
+        str = "hello world %d"%count
+        print(str)
+        pub.publish(String(str))
+        count += 1
+        time.sleep(0.1)
+        
+if __name__ == '__main__':
+    talker()
+