def __init__(self, max_samples=500, pace=2, cusum_window_size=10):
self.data_ = []
self.data_.append([0, 0, 0, 0, 0, 0])
self.step_ = []
self.step_.append(0)
self.i = 0
self.msg = 0
self.delta = 1
self.offset_x = 0
self.offset_y = 0
self.offset_z = 0
self.current_data = Twist()
self.window_size = cusum_window_size
RealTimePlotter.__init__(self, max_samples, pace, False)
self.initKalmanFilter()
rospy.init_node("kalman_filter_plotter", anonymous=True)
self.openLoop_ = Twist()
self.closeLoop_ = Twist()
rospy.Subscriber("/imu/data", Imu, self.closeLoopCB)
rospy.Subscriber("/base/odometry_controller/odometry", Odometry,
self.openLoopCB)
self.header = 0
plt.legend()
plt.show()
rospy.spin()
plt.close("all")
def __init__(self, threshold=100, pace=10):
self.data_ = []
self.step_ = []
print("Plotter Constructor Initialized")
RealTimePlotter.__init__(self, threshold, pace, False)
#self.ax.legend("True")
rospy.init_node("microphone_plotter", anonymous=False)
audio = pyaudio.PyAudio()
self.stream = audio.open(format=pyaudio.paInt16,
channels=1,
rate=44100,
input=True,
frames_per_buffer=1)
self.stream.start_stream()
self.i = 0
#_thread.start_new_thread( self.read, () )
r = rospy.Rate(10)
plt.show(block=False)
while not rospy.is_shutdown():
self.read()
r.sleep()
self.stream.stop_stream()
plt.close("all")
def __init__(self, threshold=1000, pace=200):
self.data_ = []
self.step_ = []
print("Plotter Constructor Initialized")
RealTimePlotter.__init__(self, threshold, pace)
rospy.init_node("accelerometer_plotter", anonymous=True)
rospy.Subscriber("accel", AccelStamped, self.accCB)
plt.show()
rospy.spin()
plt.close("all")
def __init__(self, threshold = 1000, pace = 200, input_topic='/imu'):
self.data_ = []
self.step_ = []
print ("Plotter Constructor Initialized")
RealTimePlotter.__init__(self,threshold,pace)
rospy.init_node("imu_plotter", anonymous=True)
rospy.Subscriber(input_topic, Imu, self.imuCB)
plt.show()
rospy.spin()
plt.close("all")
def __init__(self, threshold=1000, pace=200):
self.data_ = []
self.step_ = []
print("Plotter Constructor Initialized")
RealTimePlotter.__init__(self, threshold, pace, True)
#self.ax.legend("True")
rospy.init_node("amcl_plotter", anonymous=True)
rospy.Subscriber("/odom", Odometry, self.amclCB)
plt.show()
rospy.spin()
plt.close("all")
def __init__(self, threshold=1000, pace=200):
self.data_ = []
self.step_ = []
print("Plotter Constructor Initialized")
RealTimePlotter.__init__(self, threshold, pace, False)
self.ax.legend("False")
rospy.init_node("laser_plotter", anonymous=True)
rospy.Subscriber("/scan_unified", LaserScan, self.laserCB)
plt.show()
rospy.spin()
rospy.sleep(2)
plt.close("all")
def __init__(self, max_samples=500, pace=2, cusum_window_size=10):
self.data_ = []
self.step_ = []
self.i = 0
self.msg = 0
self.window_size = cusum_window_size
RealTimePlotter.__init__(self, max_samples, pace, True)
ChangeDetection.__init__(self, 3)
rospy.init_node("amcl_monitoring_cusum", anonymous=True)
rospy.Subscriber("/odom", Odometry, self.amclCB)
plt.show()
rospy.spin()
plt.close("all")
def __init__(self, max_samples=500, pace=2, cusum_window_size=15):
self.data_ = []
self.step_ = []
self.i = 0
self.msg = 0
self.window_size = cusum_window_size
RealTimePlotter.__init__(self, max_samples, pace, False)
ChangeDetection.__init__(self, 1)
rospy.init_node("laser_detection_ros_cusum", anonymous=True)
rospy.Subscriber("/scan_unified", LaserScan, self.laserCB)
plt.show()
rospy.spin()
plt.close("all")
def __init__(self, threshold=1000, pace=200):
self.data_ = []
self.step_ = []
print("Plotter Constructor Initialized")
rospy.init_node("velocity_controller_monitoring")
RealTimePlotter.__init__(self, threshold, pace, True)
#self.ax.legend("True")
rospy.Subscriber("/base/twist_mux/command_navigation", Twist,
self.openLoopCB)
rospy.Subscriber("/base/odometry_controller/odometry", Odometry,
self.closeLoopCB)
self.openLoop_ = Twist()
self.closeLoop_ = Twist()
self.count = 0
plt.show()
def __init__(self, max_samples=500, pace=2, cusum_window_size=10):
self.data_ = []
self.data_.append([0, 0, 0])
self.i = 0
self.msg = 0
self.window_size = cusum_window_size
RealTimePlotter.__init__(self, max_samples, pace)
ChangeDetection.__init__(self, 10, 512)
GaussPlot.__init__(self)
rospy.init_node("laser_detection_ros_gaus_cusum", anonymous=True)
rospy.Subscriber("scan_front", LaserScan, self.laserCB)
plt.legend()
plt.show()
rospy.spin()
plt.close("all")
def __init__(self, max_samples = 500, pace = 2, cusum_window_size = 10 ):
self.data_ = []
self.data_.append([0,0,0])
self.i = 0
self.msg = 0
self.window_size = cusum_window_size
RealTimePlotter.__init__(self,max_samples,pace)
ChangeDetection.__init__(self,3)
GaussPlot.__init__(self )
rospy.init_node("accelerometer_gauss_cusum", anonymous=True)
rospy.Subscriber("accel", AccelStamped, self.accCB)
self.dyn_reconfigure_srv = Server(accelerometerGaussConfig, self.dynamic_reconfigureCB)
plt.legend()
plt.show()
rospy.spin()
plt.close("all")
def __init__(self, max_samples=500, pace=2, cusum_window_size=10):
self.data_ = []
self.data_.append([0, 0, 0, 0, 0, 0])
self.i = 0
self.msg = 0
self.window_size = cusum_window_size
RealTimePlotter.__init__(self, max_samples, pace)
ChangeDetection.__init__(self, 6)
GaussPlot.__init__(self)
rospy.init_node("imu_gauss", anonymous=False)
rospy.Subscriber("imu/data", Imu, self.imuCB)
self.dyn_reconfigure_srv = Server(imuGaussConfig,
self.dynamic_reconfigureCB)
plt.legend()
plt.show()
rospy.spin()
plt.close("all")
def __init__(self, max_samples = 500, pace = 10, cusum_window_size = 20 ):
self.data_ = []
self.data_.append([0,0,0,0,0,0])
self.step_ = []
self.step_.append(0)
self.i = 0
self.msg = 0
self.window_size = cusum_window_size
RealTimePlotter.__init__(self,max_samples,pace)
ChangeDetection.__init__(self,6)
rospy.init_node("imu_cusum", anonymous=True)
input_topic = rospy.get_param("~input_topic", '/imu/data')
rospy.Subscriber(input_topic, Imu, self.imuCB)
self.dyn_reconfigure_srv = Server(imuGaussConfig, self.dynamic_reconfigureCB)
plt.legend()
plt.show()
rospy.spin()
plt.close("all")
def __init__(self, max_samples = 500, pace = 2, cusum_window_size = 10 ):
self.data_ = []
self.data_.append([0,0,0])
self.step_ = []
self.step_.append(0)
self.i = 0
self.msg = 0
self.current_data = Twist()
self.window_size = cusum_window_size
RealTimePlotter.__init__(self,max_samples,pace)
ChangeDetection.__init__(self,3)
rospy.init_node("controller_cusum", anonymous=True)
self.openLoop_ = Twist()
self.closeLoop_ = Twist()
rospy.Subscriber("/base/twist_mux/command_navigation", Twist, self.openLoopCB)
rospy.Subscriber("/base/odometry_controller/odometry", Odometry, self.closeLoopCB)
self.header = 0
plt.legend()
plt.show()
rospy.spin()
plt.close("all")