clickedPoint_path.py

import rospy
from nav_msgs.msg import Path
import csv
from geometry_msgs.msg import PoseStamped, PointStamped

rospy.init_node("create_1_point_path")

plan_publisher = rospy.Publisher('/temporary_path', Path, queue_size=10)

rate = rospy.Rate(10.0)

	




with open('way_points.csv', "wb") as csvfile:
	pointwriter = csv.writer(csvfile, delimiter=",")


	new_plan = Path()
	new_plan.header.frame_id = 'map'


	while not rospy.is_shutdown():
		point = rospy.wait_for_message('/clicked_point', PointStamped)
		way_point = PoseStamped()
		x = point.point.x 
		y = point.point.y
		pointwriter.writerow([x,y])


		way_point.pose.position.x = x
		way_point.pose.position.y = y
		new_plan.poses.append(way_point)
		plan_publisher.publish(new_plan)