v01

thirdparty/ros/ros_comm/tools/topic_tools/scripts/demux_add

@@ -0,0 +1,68 @@
+#!/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.
+
+import sys
+import os
+import string
+
+import rospy
+
+# imports the DemuxAdd service 
+from topic_tools.srv import DemuxAdd
+
+USAGE = 'USAGE: demux_add DEMUX_NAME TOPIC'
+
+def call_srv(m, t):
+    # There's probably a nicer rospy way of doing this
+    s = m + '/add'
+    print "Waiting for service \"%s\""%(s)
+    rospy.wait_for_service(s)
+    print "Adding \"%s\" to demux \"%s\""%(t, m)
+    try:
+        srv = rospy.ServiceProxy(s, DemuxAdd)
+	return srv(t)
+    except rospy.ServiceException, e:
+        print "Service call failed: %s"%e
+
+def usage():
+    return "%s "%sys.argv[0]
+
+if __name__ == "__main__":
+    args = rospy.myargv()
+    if len(args) != 3:
+        print USAGE
+	sys.exit(1)
+
+    m = args[1]
+    t = args[2]
+    call_srv(m, t)

thirdparty/ros/ros_comm/tools/topic_tools/scripts/demux_delete

@@ -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.
+
+import sys
+import os
+
+import rospy
+
+# imports the DemuxDelete service 
+from topic_tools.srv import DemuxDelete
+
+USAGE = 'USAGE: demux_delete DEMUX_NAME TOPIC'
+
+def call_srv(m, t):
+    # There's probably a nicer rospy way of doing this
+    s = m + '/delete'
+    print "Waiting for service \"%s\""%(s)
+    rospy.wait_for_service(s)
+    print "Deleting \"%s\" from demux \"%s\""%(t, m)
+    try:
+        srv = rospy.ServiceProxy(s, DemuxDelete)
+	return srv(t)
+    except rospy.ServiceException, e:
+        print "Service call failed: %s"%e
+
+def usage():
+    return "%s "%sys.argv[0]
+
+if __name__ == "__main__":
+    args = rospy.myargv()
+    if len(args) != 3:
+        print USAGE
+	sys.exit(1)
+
+    m = args[1]
+    t = args[2]
+    call_srv(m, t)

thirdparty/ros/ros_comm/tools/topic_tools/scripts/demux_list

@@ -0,0 +1,70 @@
+#!/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.
+
+import sys
+import os
+import string
+
+import rospy
+
+# imports the DemuxList service 
+from topic_tools.srv import DemuxList
+
+USAGE = 'USAGE: demux_list DEMUX_NAME'
+
+def call_srv(m):
+    # There's probably a nicer rospy way of doing this
+    s = m + '/list'
+    print "Waiting for service \"%s\""%(s)
+    rospy.wait_for_service(s)
+    print "Listing topics from demux \"%s\""%(m)
+    try:
+        srv = rospy.ServiceProxy(s, DemuxList)
+	resp = srv()
+	if resp:
+	    print resp.topics
+        return resp
+    except rospy.ServiceException, e:
+        print "Service call failed: %s"%e
+
+def usage():
+    return "%s "%sys.argv[0]
+
+if __name__ == "__main__":
+    args = rospy.myargv()
+    if len(args) != 2:
+        print USAGE
+	sys.exit(1)
+
+    m = args[1]
+    call_srv(m)

thirdparty/ros/ros_comm/tools/topic_tools/scripts/demux_select

@@ -0,0 +1,68 @@
+#!/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.
+
+import sys
+import os
+import string
+
+import rospy
+
+# imports the DemuxSelect service 
+from topic_tools.srv import DemuxSelect
+
+USAGE = 'USAGE: demux_select DEMUX_NAME TOPIC'
+
+def call_srv(m, t):
+    # There's probably a nicer rospy way of doing this
+    s = m + '/select'
+    print "Waiting for service \"%s\""%(s)
+    rospy.wait_for_service(s)
+    print "Selecting \"%s\" at demux \"%s\""%(t, m)
+    try:
+        srv = rospy.ServiceProxy(s, DemuxSelect)
+	return srv(t)
+    except rospy.ServiceException, e:
+        print "Service call failed: %s"%e
+
+def usage():
+    return "%s "%sys.argv[0]
+
+if __name__ == "__main__":
+    args = rospy.myargv()
+    if len(args) != 3:
+        print USAGE
+	sys.exit(1)
+
+    m = args[1]
+    t = args[2]
+    call_srv(m, t)

thirdparty/ros/ros_comm/tools/topic_tools/scripts/mux_add

@@ -0,0 +1,68 @@
+#!/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.
+
+import sys
+import os
+import string
+
+import rospy
+
+# imports the MuxAdd service 
+from topic_tools.srv import MuxAdd
+
+USAGE = 'USAGE: mux_add MUX_NAME TOPIC'
+
+def call_srv(m, t):
+    # There's probably a nicer rospy way of doing this
+    s = m + '/add'
+    print "Waiting for service \"%s\""%(s)
+    rospy.wait_for_service(s)
+    print "Adding \"%s\" to mux \"%s\""%(t, m)
+    try:
+        srv = rospy.ServiceProxy(s, MuxAdd)
+	return srv(t)
+    except rospy.ServiceException as e:
+        print "Service call failed: %s"%e
+
+def usage():
+    return "%s "%sys.argv[0]
+
+if __name__ == "__main__":
+    args = rospy.myargv()
+    if len(args) != 3:
+        print USAGE
+	sys.exit(1)
+
+    m = args[1]
+    t = args[2]
+    call_srv(m, t)

thirdparty/ros/ros_comm/tools/topic_tools/scripts/mux_delete

@@ -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.
+
+import sys
+import os
+
+import rospy
+
+# imports the MuxDelete service 
+from topic_tools.srv import MuxDelete
+
+USAGE = 'USAGE: mux_delete MUX_NAME TOPIC'
+
+def call_srv(m, t):
+    # There's probably a nicer rospy way of doing this
+    s = m + '/delete'
+    print "Waiting for service \"%s\""%(s)
+    rospy.wait_for_service(s)
+    print "Deleting \"%s\" from mux \"%s\""%(t, m)
+    try:
+        srv = rospy.ServiceProxy(s, MuxDelete)
+	return srv(t)
+    except rospy.ServiceException as e:
+        print "Service call failed: %s"%e
+
+def usage():
+    return "%s "%sys.argv[0]
+
+if __name__ == "__main__":
+    args = rospy.myargv()
+    if len(args) != 3:
+        print USAGE
+	sys.exit(1)
+
+    m = args[1]
+    t = args[2]
+    call_srv(m, t)

thirdparty/ros/ros_comm/tools/topic_tools/scripts/mux_list

@@ -0,0 +1,70 @@
+#!/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.
+
+import sys
+import os
+import string
+
+import rospy
+
+# imports the MuxList service 
+from topic_tools.srv import MuxList
+
+USAGE = 'USAGE: mux_list MUX_NAME'
+
+def call_srv(m):
+    # There's probably a nicer rospy way of doing this
+    s = m + '/list'
+    print "Waiting for service \"%s\""%(s)
+    rospy.wait_for_service(s)
+    print "Listing topics from mux \"%s\""%(m)
+    try:
+        srv = rospy.ServiceProxy(s, MuxList)
+	resp = srv()
+	if resp:
+	    print resp.topics
+        return resp
+    except rospy.ServiceException as e:
+        print "Service call failed: %s"%e
+
+def usage():
+    return "%s "%sys.argv[0]
+
+if __name__ == "__main__":
+    args = rospy.myargv()
+    if len(args) != 2:
+        print USAGE
+	sys.exit(1)
+
+    m = args[1]
+    call_srv(m)

thirdparty/ros/ros_comm/tools/topic_tools/scripts/mux_select

@@ -0,0 +1,68 @@
+#!/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.
+
+import sys
+import os
+import string
+
+import rospy
+
+# imports the MuxSelect service 
+from topic_tools.srv import MuxSelect
+
+USAGE = 'USAGE: mux_select MUX_NAME TOPIC'
+
+def call_srv(m, t):
+    # There's probably a nicer rospy way of doing this
+    s = m + '/select'
+    print "Waiting for service \"%s\""%(s)
+    rospy.wait_for_service(s)
+    print "Selecting \"%s\" at mux \"%s\""%(t, m)
+    try:
+        srv = rospy.ServiceProxy(s, MuxSelect)
+	return srv(t)
+    except rospy.ServiceException as e:
+        print "Service call failed: %s"%e
+
+def usage():
+    return "%s "%sys.argv[0]
+
+if __name__ == "__main__":
+    args = rospy.myargv()
+    if len(args) != 3:
+        print USAGE
+	sys.exit(1)
+
+    m = args[1]
+    t = args[2]
+    call_srv(m, t)

thirdparty/ros/ros_comm/tools/topic_tools/scripts/relay_field

@@ -0,0 +1,114 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+"""
+Allows to take a topic or one of its fields and output it on another topic
+or fields.
+
+The operations are done on the message, which is taken in the variable 'm'.
+
+Example:
+    $ rosrun topic_tools relay_field /chatter /header std_msgs/Header
+      "seq: 0
+       stamp:
+         secs: 0
+         nsecs: 0
+         frame_id: m.data"
+"""
+
+from __future__ import print_function
+import argparse
+import sys
+import copy
+
+import yaml
+
+import roslib
+import rospy
+import rostopic
+import genpy
+import std_msgs
+
+__author__ = 'www.kentaro.wada@gmail.com (Kentaro Wada)'
+
+
+def _eval_in_dict_impl(dict_, globals_, locals_):
+    res = copy.deepcopy(dict_)
+    for k, v in res.items():
+        type_ = type(v)
+        if type_ is dict:
+            res[k] = _eval_in_dict_impl(v, globals_, locals_)
+        elif (type_ is str) or (type_ is unicode):
+            try:
+                res[k] = eval(v, globals_, locals_)
+            except NameError:
+                pass
+            except SyntaxError:
+                pass
+    return res
+
+
+class RelayField(object):
+    def __init__(self):
+        parser = argparse.ArgumentParser(
+            formatter_class=argparse.RawTextHelpFormatter,
+            description=(
+                'Allows to relay field data from one topic to another.\n\n'
+                'Usage:\n\trosrun topic_tools relay_field '
+                '<input> <output topic> <output type> '
+                '<expression on m>\n\n'
+                'Example:\n\trosrun topic_tools relay_field '
+                '/chatter /header std_msgs/Header\n\t'
+                '"seq: 0\n\t stamp:\n\t   secs: 0\n\t   nsecs: 0\n\t   '
+                'frame_id: m.data"\n\n'
+                )
+            )
+        parser.add_argument('input', help='Input topic or topic field.')
+        parser.add_argument('output_topic', help='Output topic.')
+        parser.add_argument('output_type', help='Output topic type.')
+        parser.add_argument(
+            'expression',
+            help='Python expression to apply on the input message \'m\'.'
+            )
+        parser.add_argument(
+            '--wait-for-start', action='store_true',
+            help='Wait for input messages.'
+            )
+
+        # get and strip out ros args first                                                                                                                      
+        argv = rospy.myargv()
+        args = parser.parse_args(argv[1:])
+
+        self.expression = args.expression
+
+        input_class, input_topic, self.input_fn = rostopic.get_topic_class(
+            args.input, blocking=args.wait_for_start)
+        if input_topic is None:
+            print('ERROR: Wrong input topic (or topic field): %s' % args.input,
+                  file=sys.stderr)
+            sys.exit(1)
+
+        self.output_class = roslib.message.get_message_class(args.output_type)
+
+        self.sub = rospy.Subscriber(input_topic, input_class, self.callback)
+        self.pub = rospy.Publisher(args.output_topic, self.output_class,
+                                   queue_size=1)
+
+    def callback(self, m):
+        if self.input_fn is not None:
+            m = self.input_fn(m)
+
+        msg_generation = yaml.load(self.expression)
+        pub_args = _eval_in_dict_impl(msg_generation, None, {'m': m})
+
+        now = rospy.get_rostime()
+        keys = {'now': now, 'auto': std_msgs.msg.Header(stamp=now)}
+        msg = self.output_class()
+        genpy.message.fill_message_args(msg, [pub_args], keys=keys)
+        self.pub.publish(msg)
+
+
+if __name__ == '__main__':
+    rospy.init_node('relay_field', anonymous=True)
+    app = RelayField()
+    rospy.spin()

thirdparty/ros/ros_comm/tools/topic_tools/scripts/transform

@@ -0,0 +1,110 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+"""
+@author: enriquefernandez
+
+Allows to take a topic or one of it fields and output it on another topic
+after performing a valid python operation.
+
+The operations are done on the message, which is taken in the variable 'm'.
+
+* Examples (note that numpy is imported by default):
+$ rosrun topic_tools transform /imu/orientation/x /x_str std_msgs/String 'str(m)'
+$ rosrun topic_tools transform /imu/orientation/x /x_in_degrees std_msgs/Float64 -- '-numpy.rad2deg(m)'
+$ rosrun topic_tools transform /imu/orientation /norm std_msgs/Float64 'numpy.sqrt(numpy.sum(numpy.array([m.x, m.y, m.z, m.w])))'
+$ rosrun topic_tools transform /imu/orientation /norm std_msgs/Float64 'numpy.linalg.norm([m.x, m.y, m.z, m.w])'
+$ rosrun topic_tools transform /imu/orientation /euler geometry_msgs/Vector3 'tf.transformations.euler_from_quaternion([m.x, m.y, m.z, m.w])' --import tf
+"""
+
+from __future__ import print_function
+
+import roslib
+import rospy
+import rostopic
+
+import argparse
+import importlib
+import sys
+
+
+class TopicOp:
+
+    def __init__(self):
+        parser = argparse.ArgumentParser(
+            formatter_class=argparse.RawTextHelpFormatter,
+            description='Apply a Python operation to a topic.\n\n'
+                        'A node is created that subscribes to a topic,\n'
+                        'applies a Python expression to the topic (or topic\n'
+                        'field) message \'m\', and publishes the result\n'
+                        'through another topic.\n\n'
+                        'Usage:\n\trosrun topic_tools transform '
+                        '<input> <output topic> <output type> '
+                        '[<expression on m>] [--import numpy tf]\n\n'
+                        'Example:\n\trosrun topic_tools transform /imu/orientation '
+                        '/norm std_msgs/Float64 '
+                        '\'sqrt(sum(array([m.x, m.y, m.z, m.w])))\'')
+        parser.add_argument('input', help='Input topic or topic field.')
+        parser.add_argument('output_topic', help='Output topic.')
+        parser.add_argument('output_type', help='Output topic type.')
+        parser.add_argument(
+            'expression', default='m',
+            help='Python expression to apply on the input message \'m\'.'
+        )
+        parser.add_argument(
+            '-i', '--import', dest='modules', nargs='+', default=['numpy'],
+            help='List of Python modules to import.'
+        )
+        parser.add_argument(
+            '--wait-for-start', action='store_true',
+            help='Wait for input messages.'
+        )
+
+        # get and strip out ros args first
+        argv = rospy.myargv()
+        args = parser.parse_args(argv[1:])
+
+        self.modules = {}
+        for module in args.modules:
+            try:
+                mod = importlib.import_module(module)
+            except ImportError:
+                print('Failed to import module: %s' % module, file=sys.stderr)
+            else:
+                self.modules[module] = mod
+
+        self.expression = args.expression
+
+        input_class, input_topic, self.input_fn = rostopic.get_topic_class(
+            args.input, blocking=args.wait_for_start)
+        if input_topic is None:
+            print('ERROR: Wrong input topic (or topic field): %s' % args.input, file=sys.stderr)
+            sys.exit(1)
+
+        self.output_class = roslib.message.get_message_class(args.output_type)
+
+        self.sub = rospy.Subscriber(input_topic, input_class, self.callback)
+        self.pub = rospy.Publisher(args.output_topic, self.output_class, queue_size=1)
+
+    def callback(self, m):
+        if self.input_fn is not None:
+            m = self.input_fn(m)
+
+        try:
+            res = eval("{}".format(self.expression), self.modules, {'m': m})
+        except NameError as e:
+            print("Expression using variables other than 'm': %s" % e.message, file=sys.stderr)
+        except UnboundLocalError as e:
+            print('Wrong expression:%s' % e.message, file=sys.stderr)
+        except Exception:
+            raise
+        else:
+            if not isinstance(res, (list, tuple)):
+                res = [res]
+            self.pub.publish(*res)
+
+
+if __name__ == '__main__':
+    rospy.init_node('transform', anonymous=True)
+    app = TopicOp()
+    rospy.spin()