def run(self):
while not rospy.is_shutdown():
rospy.loginfo("$gt: %d" % (rospy.Time.now().secs - self.duration * 60 * 60 * 24))
if self.use_ros_time or self.use_sim_time:
rospy.loginfo("fetching data")
trans = self.msg_store.query(type=TransformStamped._type,
message_query={"header.stamp.secs": {
"$lte": rospy.Time.now().secs,
"$gt": rospy.Time.now().secs - self.duration * 60 * 60 * 24
}},
sort_query=[("$natural", 1)],
limit=self.limit)
else:
trans = self.msg_store.query(type=TransformStamped._type,
meta_query={"inserted_at": {
"$gt": datetime.utcnow() - timedelta(days=self.duration)
}},
sort_query=[("$natural", 1)])
rospy.loginfo("found %d msgs" % len(trans))
m_arr = MarkerArray()
m_arr.markers = V.transformStampedArrayToLabeledLineStripMarker(trans[::self.downsample], label_downsample=self.label_downsample, discrete=True)
m_arr.markers = V.transformStampedArrayToLabeledArrayMarker(trans[::self.downsample], label_downsample=self.label_downsample, discrete=True)
self.pub.publish(m_arr)
rospy.sleep(1.0)
rospy.loginfo("publishing move_base_marker_array")
def run(self):
while not rospy.is_shutdown():
rospy.loginfo(
"$gt: %d" %
(rospy.Time.now().secs - self.duration * 60 * 60 * 24))
if self.use_ros_time or self.use_sim_time:
rospy.loginfo("fetching data")
trans = self.msg_store.query(
type=TransformStamped._type,
message_query={
"header.stamp.secs": {
"$lte":
rospy.Time.now().secs,
"$gt":
rospy.Time.now().secs -
self.duration * 60 * 60 * 24
}
},
sort_query=[("$natural", 1)],
limit=self.limit)
else:
trans = self.msg_store.query(
type=TransformStamped._type,
meta_query={
"inserted_at": {
"$gt":
datetime.utcnow() - timedelta(days=self.duration)
}
},
sort_query=[("$natural", 1)])
rospy.loginfo("found %d msgs" % len(trans))
m_arr = MarkerArray()
m_arr.markers = V.transformStampedArrayToLabeledLineStripMarker(
trans[::self.downsample],
label_downsample=self.label_downsample,
discrete=True)
m_arr.markers = V.transformStampedArrayToLabeledArrayMarker(
trans[::self.downsample],
label_downsample=self.label_downsample,
discrete=True)
self.pub.publish(m_arr)
rospy.sleep(1.0)
rospy.loginfo("publishing move_base_marker_array")
