Commit a7e2fedf authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel

Improve republish

parent cd962bb5
......@@ -5,17 +5,18 @@ from dynamic_graph_bridge_msgs.msg import Vector
from sensor_msgs.msg import JointState
import sys
# Arg 1
input_topic = "/sot_hpp/state"
# Arg 2
output_topic = "/sot/joint_state"
# Arg 3
publish_root_wrt_odom = False
if len(sys.argv)>1:
input_topic = sys.argv[1]
if len(sys.argv)>2:
output_topic = sys.argv[2]
else:
output_topic = "/sot/joint_state"
if len(sys.argv)>3:
publish_root_wrt_odom = (sys.argv[3].lower() in ("true","on"))
else:
input_topic = "/sot_hpp/state"
rospy.init_node('sot_reemitter', anonymous=True)
pub = rospy.Publisher(output_topic, JointState, queue_size=10)
......
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