def __init__(self):
rospy.loginfo(rospy.get_name() + ": Start")
# get parameters
self.update_rate = rospy.get_param("~update_rate",
"10") # update frequency [Hz]
self.polygons_per_update = rospy.get_param("~polygons_per_update",
"100")
self.nearby_threshold = rospy.get_param("~nearby_threshold",
"5.0") # [m]
rospy.loginfo(rospy.get_name() + ": Update rate: %ld Hz",
self.update_rate)
rospy.loginfo(rospy.get_name() + ": Polygons per update: %ld",
self.polygons_per_update)
rospy.loginfo(rospy.get_name() + ": Nearby threshold: %.3f m",
self.nearby_threshold)
# get topic names
self.pose_topic = rospy.get_param("~pose_sub", '/fmKnowledge/pose')
self.polygon_map_topic = rospy.get_param("~polygon_map_pub",
'/fmKnowledge/polygon_map')
# setup subscription topic callbacks
rospy.Subscriber(self.pose_topic, Odometry, self.on_pose_message)
# setup publish topics
self.polygon_change_pub = rospy.Publisher(self.polygon_map_topic,
IntStamped)
self.polygon_change = IntStamped()
# initialize the polygon map
self.polymap = polygon_map()
self.polymap.set_nearby_threshold(self.nearby_threshold)
self.polymap.set_polygons_per_update(self.polygons_per_update)
# import polygons
file = open('polygon_map.txt', 'r')
file_content = csv.reader(file, delimiter='\t')
for name, e1, n1, e2, n2, e3, n3, e4, n4 in file_content:
polygon = [[float(e1), float(n1)], [float(e2),
float(n2)],
[float(e3), float(n3)], [float(e4),
float(n4)]]
self.polymap.add_polygon(name, polygon)
file.close()
rospy.loginfo(rospy.get_name() +
": Loaded %ld polygons" % self.polymap.poly_total)
# call updater function
self.r = rospy.Rate(self.update_rate)
self.updater()
def __init__(self):
# defines
self.update_rate = 10 # set update frequency [Hz]
rospy.loginfo(rospy.get_name() + ": Start")
# get parameters
#self.debug = rospy.get_param("~print_debug_information", 'true')
#if self.debug:
# rospy.loginfo(rospy.get_name() + ": Debug enabled")
#self.status_publish_interval = rospy.get_param("~status_publish_interval", '0')
# get topic names
self.pose_topic = rospy.get_param("~pose_sub", '/fmKnowledge/pose')
self.polygon_map_topic = rospy.get_param("~polygon_map_pub",
'/fmKnowledge/polygon_map')
# setup subscription topic callbacks
rospy.Subscriber(self.pose_topic, Odometry, self.on_pose_message)
# setup publish topics
self.polygon_change_pub = rospy.Publisher(self.polygon_map_topic,
IntStamped)
self.polygon_change = IntStamped()
# initialize the polygon map
self.polymap = polygon_map()
self.polymap.set_nearby_threshold(5.0)
self.polymap.set_polygons_per_update(100)
# import polygons
file = open('TekInnerParcelCornersExtended.csv', 'r')
file_content = csv.reader(file, delimiter='\t')
for name, e1, n1, e2, n2, e3, n3, e4, n4 in file_content:
polygon = [[float(e1), float(n1)], [float(e2),
float(n2)],
[float(e3), float(n3)], [float(e4),
float(n4)]]
self.polymap.add_polygon(name, polygon)
file.close()
# call updater function
self.r = rospy.Rate(self.update_rate)
self.updater()
def __init__(self):
# defines
self.update_rate = 10 # set update frequency [Hz]
rospy.loginfo(rospy.get_name() + ": Start")
# get parameters
#self.debug = rospy.get_param("~print_debug_information", 'true')
#if self.debug:
# rospy.loginfo(rospy.get_name() + ": Debug enabled")
#self.status_publish_interval = rospy.get_param("~status_publish_interval", '0')
# get topic names
self.pose_topic = rospy.get_param("~pose_sub",'/fmKnowledge/pose')
self.polygon_map_topic = rospy.get_param("~polygon_map_pub",'/fmKnowledge/polygon_map')
# setup subscription topic callbacks
rospy.Subscriber(self.pose_topic, Odometry, self.on_pose_message)
# setup publish topics
self.polygon_change_pub = rospy.Publisher(self.polygon_map_topic, IntStamped)
self.polygon_change = IntStamped()
# initialize the polygon map
self.polymap = polygon_map()
self.polymap.set_nearby_threshold (5.0)
self.polymap.set_polygons_per_update (100)
# import polygons
file = open('polygon_map.txt', 'r')
file_content = csv.reader(file, delimiter='\t')
for name,e1,n1,e2,n2,e3,n3,e4,n4 in file_content:
polygon = [[float(e1),float(n1)],[float(e2),float(n2)],[float(e3),float(n3)],[float(e4),float(n4)]]
self.polymap.add_polygon (name, polygon)
file.close()
rospy.loginfo(rospy.get_name() + ": Loaded %ld polygons" % self.polymap.poly_total)
# call updater function
self.r = rospy.Rate(self.update_rate)
self.updater()
def __init__(self):
rospy.loginfo(rospy.get_name() + ": Start")
# get parameters
self.update_rate = rospy.get_param("~update_rate", "10") # update frequency [Hz]
self.polygons_per_update = rospy.get_param("~polygons_per_update", "100")
self.nearby_threshold = rospy.get_param("~nearby_threshold", "5.0") # [m]
rospy.loginfo(rospy.get_name() + ": Update rate: %ld Hz", self.update_rate)
rospy.loginfo(rospy.get_name() + ": Polygons per update: %ld", self.polygons_per_update)
rospy.loginfo(rospy.get_name() + ": Nearby threshold: %.3f m", self.nearby_threshold)
# get topic names
self.pose_topic = rospy.get_param("~pose_sub",'/fmKnowledge/pose')
self.polygon_map_topic = rospy.get_param("~polygon_map_pub",'/fmKnowledge/polygon_map')
# setup subscription topic callbacks
rospy.Subscriber(self.pose_topic, Odometry, self.on_pose_message)
# setup publish topics
self.polygon_change_pub = rospy.Publisher(self.polygon_map_topic, IntStamped)
self.polygon_change = IntStamped()
# initialize the polygon map
self.polymap = polygon_map()
self.polymap.set_nearby_threshold (self.nearby_threshold)
self.polymap.set_polygons_per_update (self.polygons_per_update)
# import polygons
file = open('polygon_map.txt', 'r')
file_content = csv.reader(file, delimiter='\t')
for name,e1,n1,e2,n2,e3,n3,e4,n4 in file_content:
polygon = [[float(e1),float(n1)],[float(e2),float(n2)],[float(e3),float(n3)],[float(e4),float(n4)]]
self.polymap.add_polygon (name, polygon)
file.close()
rospy.loginfo(rospy.get_name() + ": Loaded %ld polygons" % self.polymap.poly_total)
# call updater function
self.r = rospy.Rate(self.update_rate)
self.updater()
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#*****************************************************************************
"""py
Revision
2013-05-31 KJ First version
"""
from polygon_map import polygon_map
from polygon_map_plot import polygon_map_plot
import csv
import copy
# initialize the polygon map
polymap = polygon_map()
polymap.set_nearby_threshold(10.0)
polymap.set_polygons_per_update(1600)
# initialize the polygon map plot
map_title = "Field"
map_window_size = 10.0 # [inches]
easting_offset = 0.0 # [m]
northing_offset = 0.0 # [m]
easting_offset = -588815.0 # [m]
northing_offset = -6137299.0 # [m]
polyplot = polygon_map_plot(map_title, map_window_size, easting_offset,
northing_offset)
# import polygons
file = open('TekInnerParcelCornersExtended.csv', 'r')
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#*****************************************************************************
"""py
Revision
2013-05-31 KJ First version
"""
from polygon_map import polygon_map
from polygon_map_plot import polygon_map_plot
import csv
import copy
# initialize the polygon map
polymap = polygon_map()
polymap.set_nearby_threshold (10.0)
polymap.set_polygons_per_update (1600)
# initialize the polygon map plot
map_title = "Field"
map_window_size = 10.0 # [inches]
easting_offset = 0.0 # [m]
northing_offset = 0.0 # [m]
easting_offset = -588815.0 # [m]
northing_offset = -6137299.0 # [m]
polyplot = polygon_map_plot(map_title, map_window_size, easting_offset, northing_offset)
# import polygons
file = open('TekInnerParcelCornersExtended.csv', 'r')
file_content = csv.reader(file, delimiter='\t')
