def talker():
pub = rospy.Publisher('object_seen_by_camera', SerwoInfo, queue_size=10)
rospy.init_node('object_seen_by_camera', anonymous=True)
msg = SerwoInfo()
vector_gB = []
vector_gC = []
listener = tf.TransformListener()
a = np.empty([4, 4])
b = np.empty([4, 4])
rate = rospy.Rate(500)
listener.waitForTransform('/p_c_optical_frame', '/world', rospy.Time(0), rospy.Duration(10))
while not rospy.is_shutdown():
#T_bC pozycja /wordl (B) w ukladzie /p_c_optical_frame (C)
(trans,rot) = listener.lookupTransform('/p_c_optical_frame', '/world', rospy.Time(0))
T_bC = matrixOperations.euler_matrix_from_quaternion(rot, trans)
y = math.sin(rospy.get_time()/5)
y = 2.3 + y/5
vector_gB = [1,0,0,0.88, 0,1,0,y, 0,0,1,0.6, 0,0,0,1]
T_gB = matrixOperations.translation_from_vector(vector_gB)
a = T_gB
T_gC = np.dot(T_bC , T_gB)
vector_gC = matrixOperations.vector_from_translation(T_gC)
msg.matrix = vector_gC;
msg.found = 1;
msg.out_time_nsec_pocz = 0;
msg.out_time_sec_pocz = 0;
msg.out_time_nsec_kon = 0;
msg.out_time_sec_kon = 0;
pub.publish(msg)
rate.sleep()
def talker():
pub = rospy.Publisher('realHomogMatrix', SerwoInfo, queue_size=10)
rospy.init_node('realHomogMatrix', anonymous=True)
msg = SerwoInfo()
matrix = []
#w rzeczywistosci obiekt poruszasza sie z taka czestotliwoscia
rate = rospy.Rate(500)
while not rospy.is_shutdown():
y = math.sin(rospy.get_time()/5)
y = 2.2 + y/4
matrix = [1,0,0,0,0,1,0,y,0,0,1,0,0,0,0,1]
msg.matrix = matrix;
msg.found = 1;
msg.out_time_nsec_pocz = 0;
msg.out_time_sec_pocz = 0;
msg.out_time_nsec_kon = 0;
msg.out_time_sec_kon = 0;
pub.publish(msg)
rate.sleep()
