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#!/usr/bin/env python3
# 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 the Willow Garage 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 $
from __future__ import print_function, with_statement
import sys, time
import os
import string
import re
import subprocess
import distutils.version
from optparse import OptionParser
import rospy
from tf.srv import *
import tf
def listen(duration):
rospy.init_node("view_frames", anonymous=True)
tf_listener = tf.TransformListener()
print("Listening to /tf for {} seconds".format(duration))
time.sleep(duration)
print("Done Listening")
return tf_listener.allFramesAsDot(rospy.Time.now())
def poll(node_name):
print("Waiting for service {}/tf_frames".format(node_name))
rospy.wait_for_service('{}/tf_frames'.format(node_name))
try:
print("Polling service")
tf_frames_proxy = rospy.ServiceProxy('{}/tf_frames'.format(node_name), FrameGraph)
output = tf_frames_proxy.call(FrameGraphRequest())
except rospy.ServiceException as e:
print("Service call failed: {}".format(e))
return output.dot_graph
def generate(dot_graph):
with open('frames.gv', 'w') as outfile:
outfile.write(dot_graph)
try:
# Check version, make postscript if too old to make pdf
args = ["dot", "-V"]
try:
vstr = subprocess.Popen(args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[1]
except OSError as ex:
print("Warning: Could not execute `dot -V`. Is graphviz installed?")
sys.exit(-1)
v = distutils.version.StrictVersion('2.16')
r = re.compile(".*version (\d+\.?\d*)")
print(vstr)
m = r.search(vstr)
if not m or not m.group(1):
print('Warning: failed to determine your version of dot. Assuming v2.16')
else:
version = distutils.version.StrictVersion(m.group(1))
print('Detected dot version {}'.format(version))
if version > distutils.version.StrictVersion('2.8'):
subprocess.check_call(["dot", "-Tpdf", "frames.gv", "-o", "frames.pdf"])
print("frames.pdf generated")
else:
subprocess.check_call(["dot", "-Tps2", "frames.gv", "-o", "frames.ps"])
print("frames.ps generated")
except subprocess.CalledProcessError:
print("failed to generate frames.pdf", file=sys.stderr)
if __name__ == '__main__':
parser = OptionParser(usage="usage: %prog [options]", prog='viewFrames.py')
parser.add_option("--node", metavar="node name",
type="string", help="Node to get frames from",
dest="node")
options, args = parser.parse_args()
dot_graph = ''
if not options.node:
dot_graph = listen(5.0)
else:
print("Generating graph for node: ", options.node)
dot_graph = poll(options.node)
generate(dot_graph)
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