def __init__(self):
self.rate = rospy.get_param('~rate', 10.0) # the rate at which to publish the transform
self.submodelsToBeIgnored = rospy.get_param('~ignore_submodels_of', '').split(';')
self.tfBroadcaster = tf.TransformBroadcaster()
self.link_states_msg = None
self.model_states_msg = None
self.model_cache = {}
self.updatePeriod = 1. / self.rate
self.enable_publisher_marker = False
self.enable_publisher_tf = False
self.markerPub = rospy.Publisher('/model_marker', Marker, queue_size=10)
self.modelStatesSub = rospy.Subscriber('gazebo/model_states', ModelStates, self.on_model_states_msg, queue_size=1)
self.linkStatesSub = rospy.Subscriber('gazebo/link_states', LinkStates, self.on_link_states_msg, queue_size=1)
rate_sleep = rospy.Rate(self.rate)
# Main while loop
while not rospy.is_shutdown():
if self.enable_publisher_marker and self.enable_publisher_tf:
self.publish_tf()
self.publish_marker()
rate_sleep.sleep()
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