def dynamic_custom_polygon_demo(self, zones_list): #rospy.init_node("polygon_array_dynamic") # /polygon_array_dynamic/output pub = rospy.Publisher("/polygon_array_dynamic/output", PolygonArray, queue_size=1) r = rospy.Rate(5) count = 0 msg = PolygonArray() header = Header() header.frame_id = "world" header.stamp = rospy.Time.now() msg.header = header msg.polygons = [] msg.labels = [] msg.likelihood = [] for i in zones_list: #print(i) msg.polygons.append(self.DynamicPolygon(header, i)) msg.labels.append(count) msg.likelihood.append(np.random.ranf()) count += 1 rospy.loginfo("Publishing box") pub.publish(msg) r.sleep()
def sample_demo(): """ Draws a star, circle, rectangle and square """ rospy.init_node("polygon_array_sample") pub = rospy.Publisher("~output", PolygonArray, queue_size=1) r = rospy.Rate(10) while not rospy.is_shutdown(): msg = PolygonArray() header = Header() header.frame_id = "world" header.stamp = rospy.Time.now() msg.header = header msg.polygons = [ SquarePolygon(header), RectanglePolygon(header), CirclePolygon(header), StarPolygon(header) ] # rospy.loginfo("number of point to enter :"+ str(msg.polygons)) msg.labels = [0, 1, 2, 3] msg.likelihood = [ np.random.ranf(), np.random.ranf(), np.random.ranf(), np.random.ranf() ] pub.publish(msg) r.sleep()
def callback(msg): output_msg = PolygonArray() output_msg.header = msg.header output_msg.polygons = msg.polygons output_msg.labels = msg.labels output_msg.likelihood = msg.likelihood # fill empty output_msg.header.stamp = rospy.Time(0) for i in range(len(output_msg.polygons)): output_msg.polygons[i].header = output_msg.header pub.publish(output_msg)
def dynamic_custom_polygon_demo(): rospy.init_node("polygon_array_dynamic") # /polygon_array_dynamic/output pub = rospy.Publisher("~output", PolygonArray, queue_size=1) r = rospy.Rate(5) #while not rospy.is_shutdown(): msg = PolygonArray() header = Header() header.frame_id = "world" header.stamp = rospy.Time.now() msg.header = header msg.polygons = [DynamicPolygon(header)] msg.labels = [0] msg.likelihood = [np.random.ranf()] pub.publish(msg) r.sleep()
p.header = header p.polygon.points = [Point32(x= .0000, y= 1.0000 + 3.0), Point32(x= .2245, y= .3090 + 3.0), Point32(x= .9511, y= .3090 + 3.0), Point32(x= .3633, y= -.1180 + 3.0), Point32(x= .5878, y= -.8090 + 3.0), Point32(x= .0000, y= -.3820 + 3.0), Point32(x= -.5878, y= -.8090 + 3.0), Point32(x= -.3633, y= -.1180 + 3.0), Point32(x= -.9511, y= .3090 + 3.0), Point32(x= -.2245, y= .3090 + 3.0)] return p if __name__ == "__main__": rospy.init_node("polygon_array_sample") pub = rospy.Publisher("~output", PolygonArray) r = rospy.Rate(10) while not rospy.is_shutdown(): msg = PolygonArray() header = Header() header.frame_id = "world" header.stamp = rospy.Time.now() msg.header = header msg.polygons = [SquarePolygon(header), RectanglePolygon(header), CirclePolygon(header), StarPolygon(header)] msg.labels = [0, 1, 2, 3] msg.likelihood = [np.random.ranf(), np.random.ranf(), np.random.ranf(), np.random.ranf()] pub.publish(msg)
rospy.init_node("polygon_array_sample") pub = rospy.Publisher("~output", PolygonArray) r = rospy.Rate(10) br = tf.TransformBroadcaster() while not rospy.is_shutdown(): msg = PolygonArray() header = Header() header.frame_id = "world" header.stamp = rospy.Time.now() msg.header = header msg.polygons = [ SquarePolygon(header), RectanglePolygon(header), CirclePolygon(header), StarPolygon(header) ] msg.labels = [0, 1, 2, 3] msg.likelihood = [ np.random.ranf(), np.random.ranf(), np.random.ranf(), np.random.ranf() ] pub.publish(msg) br.sendTransform((0, 0, 0), tf.transformations.quaternion_from_euler(0, 0, 0), rospy.Time.now(), 'map', 'world')