Thanks for that code, Morgan -- it works now and makes sense.
Brian - I would prefer to use Python, but I'm a little confused about how the ROS package file structure works with Python. It was very clear to me that for C++ source files in the sicktoolbox_wrapper package, I needed to add certain lines to the CMakeLists.txt file, and put it in a certain directory. Where do Python files go, and do I need to add them to the makefile and just re-run 'make', like I do for C++ files? Or is there something else I need to for Python files?
Best,
Rishi

Rishi Bedi
rbedi100@gmail.com


On Thu, Jul 15, 2010 at 3:46 PM, Brian Gerkey <gerkey@willowgarage.com> wrote:
On Thu, Jul 15, 2010 at 12:07 PM, Rishi Bedi <rbedi100@gmail.com> wrote:
> Hi Morgan,
> Okay -- say I wanted to read in just the range values from sicklms -- how
> can I just grab those? When I use rostopic echo /scan, the ranges show up as
> a list within brackets - is there a way I can pick out data from a topic my
> node is subscribing to? Sorry if I'm being a bit dense -- I'm not well
> versed on handling data types in C++.

If you prefer not to think about data types, you can write in Python
instead.  There's a parallel tutorial for writing Python subscribers:

http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber%28python%29#rospy_tutorials.2BAC8-Tutorials.2BAC8-WritingPublisherSubscriber.Writing_the_Subscriber_Node

       brian.
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