def __init__(self):
""" Initialize the node, right now we are hardcoding a bag file, but you could pass it in using
a ROS argument or parameter """
rp = rospkg.rospack.RosPack()
rospy.init_node('mynode')
rospy.Subscriber('scan', LaserScan, self.process_scan)
self.bag = InterruptableBagPlayer(rp.get_path('python_debugging_practice') + "/bags/2015-09-28-15-33-57.bag")
class ExampleBagPausing(object):
""" This is an example of a ROS Node that has the ability to play a bag file and pause the bag
file programmatically when we want to debug the program.
Every time you want to stop the program's execution, you should toggle the pause state
of the bag, call pdb.set_trace(), and then when you are done with the section you want to
debug you should toggle the pause state of the bag again """
def __init__(self):
""" Initialize the node, right now we are hardcoding a bag file, but you could pass it in using
a ROS argument or parameter """
rp = rospkg.rospack.RosPack()
rospy.init_node('mynode')
rospy.Subscriber('scan', LaserScan, self.process_scan)
self.bag = InterruptableBagPlayer(rp.get_path('python_debugging_practice') + "/bags/2015-09-28-15-33-57.bag")
def run(self):
""" the main run loop, just hangout """
r = rospy.Rate(5)
while not rospy.is_shutdown():
r.sleep()
def process_scan(self, scan):
""" Process scan data """
print scan.header.seq
if scan.header.seq % 10 == 0:
# for some reason we want to debug the callback every 10th scan
# pause the bag
self.bag.toggle_pause()
# enter PDB
pdb.set_trace()
# unpause the bag
self.bag.toggle_pause()
