bgromov / brl_tools Goto Github PK

Right now fields of input config can only be a path to a field in input message, however quite often we need to supply constant values, e.g. frame_id's etc.

To achieve this with current version one has to duplicate a whole structure of the message with necessary modifications.

Simple use case: substitute frame_id's in input message.

To switch to this mode a command-line parameter --values-only can be introduced

Example

Input message (geometry_msgs/PoseStampted)

header: 
  seq: 2126
  stamp: 
    secs: 1370264149
    nsecs: 610554802
  frame_id: odom
pose: 
  pose: 
    position: 
      x: 32.3999266916
      y: 93.7854657316
      z: -0.0162693364091
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.100334211173
      w: 0.994953790921

So recompose.py --values-only "{header: {frame_id: 'world_link'}}" would be sufficient to rename odom to world_link.