forrestv's profile - activity

Hah, yep ... I'm going to blame missing that on the (previously) horrible code formatting.

Format your code correctly; all lines should be indented an additional 4 spaces.

You should be making your publisher within the global scope, not within the callback. (Though that wouldn't create the problem you describe; it would result in no messages being published.)

Make bag take two arguments, the topic name and the message, and then change that code to:

map(lambda x: x.unregister(), SUBSCRIPTIONS)
SUBSCRIPTIONS = map(lambda topic: rospy.Subscriber(topic, AnyMsg, lambda msg: bag(topic, msg)), TOPICS)

Look at PySerial examples.

To convert from a numpy array to a Quaternion message type, it's just:

q = numpy.array([.5, .5, .5, .5])
from geometry_msgs.msg import Quaternion
pub.publish(Quaternion(*q))

Converting from the message type to a numpy array is harder and I could never find a provided function, so I usually do:

xyzw_array = lambda o: numpy.array([o.x, o.y, o.z, o.w])
print xyz_array(msg.pose.orientation)

It's the frame that rviz transforms everything into to display it, the world frame. You don't have a tf between /velodyne and /map or something, so you need to tell it to use /velodyne as the world frame.

Change the "fixed frame" at the top of rviz's config to /velodyne