/usr/lib/tf/view_frames is in tf-tools 1.11.8-4.
This file is owned by root:root, with mode 0o755.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 | #!/usr/bin/env python
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# modification, are permitted provided that the following conditions
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# Revision $Id: gossipbot.py 1013 2008-05-21 01:08:56Z sfkwc $
## Simple demo of a rospy service client that calls a service to add
## two integers.
from __future__ import 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 %f seconds"%duration
time.sleep(duration)
print "Done Listening"
return tf_listener.allFramesAsDot(rospy.Time.now())
def poll(node_name):
print "Waiting for service %s/tf_frames"%node_name
rospy.wait_for_service('%s/tf_frames'%node_name)
try:
print "Polling service"
tf_frames_proxy = rospy.ServiceProxy('%s/tf_frames'%node_name, FrameGraph)
output = tf_frames_proxy.call(FrameGraphRequest())
except rospy.ServiceException, e:
print "Service call failed: %s"%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, ex:
print "Warning: Could not execute `dot -V`. Is graphviz installed?"
sys.exit(-1)
v = distutils.version.StrictVersion('2.16')
r = re.compile(".*version ([^ ]*).*")
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 %s' % (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 >> sys.stderr, "failed to generate frames.pdf"
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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