/usr/bin/view_frames is in tf2-tools 0.5.12-2.
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 | #!/usr/bin/python
# 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, 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.
# author: Wim Meeussen
import rospy
import tf2_py as tf2
import yaml
import subprocess
from tf2_msgs.srv import FrameGraph
import tf2_ros
def main():
rospy.init_node('view_frames')
# listen to tf for 5 seconds
rospy.loginfo('Listening to tf data during 5 seconds...')
rospy.sleep(0.00001)
buffer = tf2_ros.Buffer()
listener = tf2_ros.TransformListener(buffer)
rospy.sleep(5.0)
rospy.loginfo('Generating graph in frames.pdf file...')
rospy.wait_for_service('~tf2_frames')
srv = rospy.ServiceProxy('~tf2_frames', FrameGraph)
data = yaml.load(srv().frame_yaml)
with open('frames.gv', 'w') as f:
f.write(generate_dot(data))
subprocess.Popen('dot -Tpdf frames.gv -o frames.pdf'.split(' ')).communicate()
def generate_dot(data):
if len(data) == 0:
return 'digraph G { "No tf data received" }'
dot = 'digraph G {\n'
for el in data:
map = data[el]
dot += '"'+map['parent']+'" -> "'+el+'"'
dot += '[label=" '
dot += 'Broadcaster: '+map['broadcaster']+'\\n'
dot += 'Average rate: '+str(map['rate'])+'\\n'
dot += 'Buffer length: '+str(map['buffer_length'])+'\\n'
dot += 'Most recent transform: '+str(map['most_recent_transform'])+'\\n'
dot += 'Oldest transform: '+str(map['oldest_transform'])+'\\n'
dot += '"];\n'
if not map['parent'] in data:
root = map['parent']
dot += 'edge [style=invis];\n'
dot += ' subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";\n'
dot += '"Recorded at time: '+str(rospy.Time.now().to_sec())+'"[ shape=plaintext ] ;\n'
dot += '}->"'+root+'";\n}'
return dot
if __name__ == '__main__':
main()
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