{"action":"created","comment":{"url":"https://api.github.com/repos/personalrobotics/prpy/pulls/comments/41670446","id":41670446,"diff_hunk":"@@ -0,0 +1,123 @@\n+#!/usr/bin/env python\n+\n+# Copyright (c) 2015, Carnegie Mellon University\n+# All rights reserved.\n+# Authors: Jennifer King <jeking@cs.cmu.edu>\n+#\n+# Redistribution and use in source and binary forms, with or without\n+# modification, are permitted provided that the following conditions are met:\n+#\n+# - Redistributions of source code must retain the above copyright notice, this\n+#   list of conditions and the following disclaimer.\n+# - Redistributions in binary form must reproduce the above copyright notice,\n+#   this list of conditions and the following disclaimer in the documentation\n+#   and/or other materials provided with the distribution.\n+# - Neither the name of Carnegie Mellon University nor the names of its\n+#   contributors may be used to endorse or promote products derived from this\n+#   software without specific prior written permission.\n+#\n+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\n+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\n+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\n+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE\n+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\n+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\n+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\n+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\n+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\n+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n+# POSSIBILITY OF SUCH DAMAGE.\n+\n+import logging\n+from base import PerceptionModule, PerceptionMethod\n+\n+logger = logging.getLogger(__name__)\n+logger.setLevel(logging.INFO)\n+\n+class ApriltagsModule(PerceptionModule):\n+    \n+    def __init__(self, marker_topic, marker_data_path, kinbody_path,\n+                 detection_frame, destination_frame):\n+\n+        super(ApriltagsModule, self).__init__()\n+        \n+        self.marker_topic = marker_topic\n+        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