view_frames.py

#!/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)