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Viewing changes to mrol_mapping/visualiser/rviz.py

  • Committer: Vikas Dhiman
  • Date: 2012-05-22 15:26:38 UTC
  • Revision ID: wecacuee@gmail.com-20120522152638-j6srlkgrpdq4kdfe
Added support for userdata in terms of colored voxels. Added benchmark test and corresponding data

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mrol_mapping/visualiser/rviz.py
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        def newhandler(signum, frame):
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            os._exit(0)
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        signal.signal(signal.SIGINT, newhandler)
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        Thread(target=self._publisher_thread).start()
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        Thread(target=self._transform_thread).start()
 
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        t = Thread(target=self._publisher_thread)
 
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        t.daemon = True # die when no other non-daemon thread is around
 
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        t.start()
 
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        t = Thread(target=self._transform_thread)
 
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        t.daemon = True # die when no other non-daemon thread is around
 
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        t.start()
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    def _transform_thread(self):
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        br = tf.TransformBroadcaster()