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#!/usr/bin/env python |
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# :copyright: Copyright (C) 2015 Universidad Carlos III de Madrid. |
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# Todos los derechos reservados. |
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# :license LASR_UC3M v1.0, ver LICENCIA.txt |
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# Este programa es software libre: puede redistribuirlo y/o modificarlo |
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# bajo los terminos de la Licencia Academica Social Robotics Lab - UC3M |
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# publicada por la Universidad Carlos III de Madrid, tanto en su version 1.0 |
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# como en una version posterior. |
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# Este programa se distribuye con la intencion de que sea util, |
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# pero SIN NINGUNA GARANTIA. Para mas detalles, consulte la |
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# Licencia Academica Social Robotics Lab - UC3M version 1.0 o posterior. |
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# Usted ha recibido una copia de la Licencia Academica Social |
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# Robotics Lab - UC3M en el fichero LICENCIA.txt, que tambien se encuentra |
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# disponible en <URL a la LASR_UC3Mv1.0>. |
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"""Utilities to ease the subscription and publication of ros topics.""" |
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# import roslib |
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# roslib.load_manifest('monarch_multimodal_fusion') |
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# import argparse |
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# import rospy |
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import rospy_utils as rpyu |
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from rospy_utils import coroutines as co |
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def get_msg_type(msg_typename): |
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""" |
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Translate from a message typename to a message actual type. |
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:param str msg_typename: The typename of the msg. |
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Example: 'std_msgs/String' |
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:return: The type of the message specified as parameter. |
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:rtype: type |
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Example: |
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>>> msg = get_msg_type("std_msgs/String") |
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>>> msg(data='Hello World!') |
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data: Hello World! |
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""" |
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msg_package, msg_name = msg_typename.split('/') |
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msg_full_typename = '.'.join([msg_package, 'msg', msg_name]) |
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return rpyu.load_class(msg_full_typename) |
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class ChainWith(object): |
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"""Chains two topics with a coroutine.""" |
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def __init__(self, coroutine, in_topic, in_typeneme, |
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out_topic, out_typename, *args, **kwargs): |
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"""Constructor.""" |
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super(ChainWith, self).__init__() |
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self.coroutine = coroutine |
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self.in_topic = in_topic |
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self.in_typeneme = in_typeneme |
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self.out_topic = out_topic |
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self.out_typename = out_typename |
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pipe = co.pipe([coroutine(*args, **kwargs), |
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co.publisher(self.out_topic, self.out_type)]) |
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co.PipedSubscriber(self.in_topic, self.in_type, pipe) |
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UC3MSocialRobots /
rospy_utils
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