Passing Multiple Arguments to Subscriber Callback function in python

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Hi All,

I am wrote the following code to track position of my robot in rviz using markers.

import rospy
from visualization_msgs.msg import Marker
from geometry_msgs.msg import PoseStamped,Point


def callback(data,marker,pub_point):
    add_point = Point()
    add_point.x = data.pose.position.x
    add_point.y = data.pose.position.y
    add_point.z = 0
    marker.points.append(add_point)
    # Publish the Marker
    pub_point.publish(marker)

if __name__ == '__main__':
    rospy.init_node('position_tracker')
    pub_point = rospy.Publisher('realpoints_marker', Marker, queue_size=1)
    rospy.loginfo('Generate the system')

    marker = Marker()
    marker.header.frame_id = "/map"
    marker.type = marker.POINTS
    marker.action = marker.ADD

    # marker scale
    marker.scale.x = 0.03
    marker.scale.y = 0.03
    marker.scale.z = 0.03

    # marker color
    marker.color.a = 1.0
    marker.color.r = 1.0
    marker.color.g = 0.0
    marker.color.b = 0.0

    # marker orientaiton
    marker.pose.orientation.x = 0.0
    marker.pose.orientation.y = 0.0
    marker.pose.orientation.z = 0.0
    marker.pose.orientation.w = 1.0

    # marker position
    marker.pose.position.x = 0.0
    marker.pose.position.y = 0.0
    marker.pose.position.z = 0.0

    # marker line points
    marker.points = []
    rospy.Subscriber("/pose", PoseStamped, callback,marker,pub_point)

I get a error saying that queue size needs to be Integer. It is because of how rospy class is defined http://docs.ros.org/melodic/api/rospy/html/rospy.topics.Subscriber-class.html

The fourth argument is queue size.

I need to pass marker and pub_point objects to callback function.

Solution:

import rospy
from visualization_msgs.msg import Marker
from geometry_msgs.msg import PoseStamped,Point

def callback(data):
    add_point = Point()
    add_point.x = data.pose.position.x
    add_point.y = data.pose.position.y
    add_point.z = 0
    rospy.loginfo('Publishing Marker Point')
    marker.points.append(add_point)
    # Publish the Marker
    pub_point.publish(marker)

marker = Marker()
marker.header.frame_id = "/my_frame"
marker.type = marker.POINTS
marker.action = marker.ADD

# marker scale
marker.scale.x = 0.03
marker.scale.y = 0.03
marker.scale.z = 0.03

# marker color
marker.color.a = 1.0
marker.color.r = 1.0
marker.color.g = 0.0
marker.color.b = 0.0

# marker orientaiton
marker.pose.orientation.x = 0.0
marker.pose.orientation.y = 0.0
marker.pose.orientation.z = 0.0
marker.pose.orientation.w = 1.0

# marker position
marker.pose.position.x = 0.0
marker.pose.position.y = 0.0
marker.pose.position.z = 0.0

# marker line points
marker.points = []
print "Marker created...."

rospy.loginfo('Publishing Marker Point')
rospy.init_node('position_tracker')
pub_point = rospy.Publisher('realpoints_marker', Marker, queue_size=1)
print "Publisher created...."
rospy.Subscriber("/simulated_waypoints", PoseStamped, callback)
print "Subcriber created...."
rospy.spin()