def __add_scan_msg(self, topic, frame, measurements):
"""
Publish a LaserScan message to a ROSBag file with the given measurement ranges.
:param measurements: (ndarray) 2D Array of measurements to be published.
Measured ranges must be in measurements[:, 1]
:return: None
"""
if self._bag is None:
return
meas_msg = LaserScan()
meas_msg.header.frame_id = frame # topic_prefix + self._params['laser_frame']
meas_msg.header.stamp = self._current_time
meas_msg.header.seq = self._laser_msg_seq
meas_msg.angle_min = self._params['start_ray']
meas_msg.angle_max = self._params['end_ray']
if self._params['num_rays'] > 1:
meas_msg.angle_increment = (meas_msg.angle_max - meas_msg.angle_min
) / (self._params['num_rays'] - 1)
else:
meas_msg.angle_increment = 0.0
meas_msg.range_min = 0.0
meas_msg.range_max = self._params['max_range']
meas_msg.ranges = measurements[:, 1]
self._bag.write(topic, meas_msg, self._current_time)
self._bag.flush()
def laserscan_err_inj(tb3_name):
#Create error-injected topic
rospy.init_node('laser_err_inj')
#########################################
#Create new message
laserscan_msg = LaserScan()
#Fill message with values
laserscan_msg.header.seq = 0
laserscan_msg.header.stamp.secs = 0
laserscan_msg.header.stamp.nsecs = 0
laserscan_msg.header.frame_id = ""
laserscan_msg.angle_min = 0.0
laserscan_msg.angle_max = 0.0
laserscan_msg.angle_increment = 0.0
laserscan_msg.time_increment = 0.0
laserscan_msg.scan_time = 0.0
laserscan_msg.range_min = 0.0
laserscan_msg.range_max = 0.0
laserscan_msg.ranges = [0.0] * 360
laserscan_msg.intensities = [0.0] * 360
#########################################
rate = rospy.Rate(50)
#Publish message into new topic
while not rospy.is_shutdown():
my_sub = rospy.Subscriber(turtlebot_dict[tb3_name] + 'scan', LaserScan, listener)
my_pub = rospy.Publisher(turtlebot_dict[tb3_name] + 'laser_err_inj', LaserScan, queue_size = 10)
#########################################
#INJECT ERRORS HERE
laserscan_msg.header.seq = actual_seq
laserscan_msg.header.stamp.secs = actual_secs
laserscan_msg.header.stamp.nsecs = actual_nsecs
laserscan_msg.header.frame_id = actual_frameid
laserscan_msg.angle_min = actual_anglemin
laserscan_msg.angle_max = actual_anglemax
laserscan_msg.angle_increment = actual_angleincrement
laserscan_msg.time_increment = actual_timeincrement
laserscan_msg.scan_time = actual_scantime
laserscan_msg.range_min = actual_rangemin
laserscan_msg.range_max = actual_rangemax
for i in range(len(actual_ranges)):
laserscan_msg.ranges[i] = actual_ranges[i] #inject error here (i just made everything = 0 because it's easy to see when testing)
for j in range(len(actual_intensities)):
laserscan_msg.intensities[i] = actual_intensities[i] #inject error here (i just made everything = 0 because it's easy to see when testing)
#########################################
my_pub.publish(laserscan_msg)
rate.sleep()
rospy.spin()
def timer_callback(self, timer):
ts = rospy.Time.now()
# pub scan
scan = LaserScan()
scan.header.stamp = ts
scan.header.frame_id = 'ego_racecar/laser'
scan.angle_min = self.angle_min
scan.angle_max = self.angle_max
scan.angle_increment = self.angle_inc
scan.range_min = 0.
scan.range_max = 30.
scan.ranges = self.ego_scan
self.ego_scan_pub.publish(scan)
scan = LaserScan()
scan.header.stamp = ts
scan.header.frame_id = 'ego_racecar/laser'
scan.angle_min = self.angle_min
scan.angle_max = self.angle_max
scan.angle_increment = self.angle_inc
scan.range_min = 0.
scan.range_max = 30.
scan.ranges = self.opp_scan
self.opp_scan_pub.publish(scan)
# pub tf
self.publish_odom(ts)
self.publish_transforms(ts)
self.publish_laser_transforms(ts)
self.publish_wheel_transforms(ts)
# pub race info
self.publish_race_info(ts)
def create_messages(params, words):
# 0 | 1 | 2 - 1+num_readings | 2+num_readings | 3+num_readings |
# xLASER | num_readings | [range_readings] | x | y |
#-------------------------------------------------------------------------------
# 4+num_readings | 5+num_readings | 6+num_readings | 7+num_readings |
# theta | odom_x | odom_y | odom_theta |
#-------------------------------------------------------------------------------
# 8+num_readings | 9+num_readings | 10+num_readings
# ipc_timestamp | ipc_hostname |logger_timestamp
laser_msg = LaserScan()
laser_msg.header.frame_id = laser_tf_child_frame
num_readings = int(words[1])
laser_msg.ranges = list(map(float, words[2:1 + num_readings + 1]))
str_laser_fov = "laser_" + param_names[words[0]] + "_fov"
if str_laser_fov in params:
a_range = float(params[str_laser_fov][0])
else:
a_range = radians(180.0)
str_laser_res = "laser_" + param_names[words[0]] + "_resolution"
if str_laser_res in params:
laser_msg.angle_increment = radians(float(params[str_laser_res][0]))
else:
laser_msg.angle_increment = a_range / float(num_readings)
laser_msg.angle_min = -a_range / 2.0
laser_msg.angle_max = a_range / 2.0
str_max_range = "robot_" + param_names[words[0]] + "_max"
if str_max_range in params:
laser_msg.range_max = float(params[str_max_range][0])
else:
laser_msg.range_max = 20.0
laser_msg.range_min = 0
laser_msg.header.stamp = rospy.Time(float(words[8 + num_readings]))
TS_odom_robot_msg = TransformStamped()
TS_odom_robot_msg.header.stamp = laser_msg.header.stamp + rospy.Duration(
0.01)
TS_odom_robot_msg.header.frame_id = laser_tf_parrent_frame
TS_odom_robot_msg.child_frame_id = laser_tf_child_frame
TS_odom_robot_msg.transform.translation = Point(
float(words[5 + num_readings]), float(words[6 + num_readings]), 0.0)
quaternion = tf.transformations.quaternion_from_euler(
0.0, 0.0, float(words[7 + num_readings]))
TS_odom_robot_msg.transform.rotation.x = quaternion[0]
TS_odom_robot_msg.transform.rotation.y = quaternion[1]
TS_odom_robot_msg.transform.rotation.z = quaternion[2]
TS_odom_robot_msg.transform.rotation.w = quaternion[3]
tf_msg = TFMessage()
tf_msg.transforms.append(TS_odom_robot_msg)
return [(laser_topic_name, laser_msg, laser_msg.header.stamp),
(tf_topic_name, tf_msg, TS_odom_robot_msg.header.stamp)]
def create_lidar_msg(lidar_string):
lidar_msg = LaserScan()
data = lidar_string.split(";")
#num_readings = 1440 --------------------------------
#data[0] = min angle (degrees)
#data[1] = max angle (degrees)
#data[2] = timestep (ms)
#data[3] = lidar scan array
#data[4] = min range
#data[5] = max range
#print data
lidar_msg.header = create_header() #self?
lidar_msg.angle_min = math.radians(float(data[0]))
lidar_msg.angle_max = math.radians(float(data[1]))
lidar_msg.angle_increment = math.radians(.25) #get from lidar
lidar_msg.time_increment = float(25. / self.num_readings) #time in ms / measurements YOYOYOYO CHECK THIS
lidar_msg.scan_time = float(data[2])
lidar_msg.range_min = float(data[4]) / 1000 #sent in mm, should be meters
lidar_msg.range_max = float(data[5]) / 1000 #sent in mm, should be meters
array_string = data[3].translate(None, '[]')
string_array = array_string.split(",")
lidar_msg.ranges = [float(r) / 1000 for r in string_array] #better way?
# string_array = data[3].strip("[").strip("]").split(",")
# string_array = data[3].split(",")
# try:
# lidar_msg.ranges = [float(r) for r in string_array]
# lidar_msg.intensities = []
# except ValueError:
# print "range vals failed"
return lidar_msg
def publish_filtered_laser_scan(self, laser_original_data,
new_filtered_laser_range):
length_range = len(laser_original_data.ranges)
length_intensities = len(laser_original_data.intensities)
laser_filtered_object = LaserScan()
h = Header()
h.stamp = rospy.Time.now(
) # Note you need to call rospy.init_node() before this will work
h.frame_id = "chassis"
laser_filtered_object.header = h
laser_filtered_object.angle_min = laser_original_data.angle_min
laser_filtered_object.angle_max = laser_original_data.angle_max
laser_filtered_object.angle_increment = laser_original_data.angle_increment
laser_filtered_object.time_increment = laser_original_data.time_increment
laser_filtered_object.scan_time = laser_original_data.scan_time
laser_filtered_object.range_min = laser_original_data.range_min
laser_filtered_object.range_max = laser_original_data.range_max
laser_filtered_object.ranges = []
laser_filtered_object.intensities = []
for item in new_filtered_laser_range:
laser_filtered_object.ranges.append(item)
laser_filtered_object.intensities.append(item)
self.laser_filtered_pub.publish(laser_filtered_object)
def to_laserscan(self, frame):
"""Returns a LaserScan message correspon2ding to slice.
Args:
frame: Frame ID.
Returns:
A sensor_msgs.msg.LaserScan.
"""
scan = LaserScan()
scan.header.frame_id = frame
scan.header.stamp = self.timestamp
scan.angle_min = self.angle_min
scan.angle_max = self.angle_max
scan.angle_increment = self.step
#scan.ranges = self.bins
scan.ranges = [b * 1.45 / 2000 for b in self.bins]
# points out if this range are discarded
scan.range_min = 0.0
scan.range_max = 70000.0
return scan
def tfmini_laserscan_publisher(frame_id):
scan_pup = rospy.Publisher('tfmini_laser', LaserScan, queue_size=0)
scan = LaserScan()
#-- Convention: counter clockwise is positive (left positive, right negative)
tfminiscanner = TfminiServoScanner(SERVO_GPIO, SRV_ANGLE_MIN,
SRV_ANGLE_MAX, SRV_DUTY_ANGLE_MIN,
SRV_DUTY_ANGLE_MAX, LASER_ANGLE_SAMPLES,
SRV_TIME_MIN_MAX)
#-- Initialize the message
scan.header.frame_id = frame_id
scan.range_min = tfminiscanner.laser.distance_min * 0.01
scan.range_max = tfminiscanner.laser.distance_max * 0.01
tfminiscanner.reset_servo()
time.sleep(1)
counter = 0
while not rospy.is_shutdown():
ini_angle, end_angle, time_increment, angle_increment, ranges = tfminiscanner.scan(
scale_factor=0.01, reset=True)
scan.angle_min = ini_angle
scan.angle_max = end_angle
scan.angle_increment = angle_increment
scan.time_increment = time_increment
scan.ranges = ranges
scan_pup.publish(scan)
def callback(self, msg):
rate = rospy.Rate(10)
scan_msg = LaserScan()
scan_msg.header = msg.header
scan_msg.angle_min = msg.angle_min
scan_msg.angle_max = msg.angle_max
scan_msg.angle_increment = msg.angle_increment
scan_msg.time_increment = msg.time_increment
scan_msg.scan_time = msg.scan_time
scan_msg.range_min = msg.range_min
scan_msg.range_max = msg.range_max
#print np.shape(msg.ranges)
count = int(msg.scan_time / msg.time_increment)
scan_msg.ranges = np.zeros((count, ), dtype=np.float)
scan_msg.intensities = np.zeros((count, ), dtype=np.float)
for i in xrange(count):
#if i < 359 or i > 1079:
if i < 489 or i > 949:
scan_msg.ranges[i] = msg.ranges[i]
scan_msg.intensities[i] = msg.intensities[i]
else:
scan_msg.ranges[i] = float('inf')
scan_msg.intensities[i] = 0.0
#print "here"
#rate.sleep()
self.scan_pub.publish(scan_msg)
def _processLaserscan(self, readingType, remappedTimestamp, content):
# FIXME: For type ROBOTLASER, we should publish the robot/sensor pose using TF and use the correct TF frame
laserscan = LaserScan()
laserscan.header = Header(stamp=remappedTimestamp, frame_id="odom", seq=self._laserscanCounter)
if readingType.startswith("RAWLASER") or readingType.startswith("ROBOTLASER"):
laserscan.angle_min = float(content[1])
laserscan.angle_max = laserscan.angle_min + float(content[2])
laserscan.angle_increment = float(content[3])
laserscan.time_increment = 0
laserscan.scan_time = 0.0 # FIXME
laserscan.range_min = 0
laserscan.range_max = float(content[4])
numRanges = int(content[7])
for i in xrange(0, numRanges):
laserscan.ranges.append( float(content[8 + i]) )
numRemissions = int(content[8 + numRanges])
for i in xrange(0, numRemissions):
laserscan.intensities.append( float(content[9 + numRanges + i]) )
else:
rospy.logwarn("Unsupported laser of type %s in line %d" % (readingType, self._lineCounter) )
publisher = self._laserscanPublishers[ self._getLaserID(readingType, content) ]
publisher.publish(laserscan)
self._laserscanCounter += 1
def fillUpOldLaserMessage(words):
laser_msg = LaserScan()
laser_msg.header.frame_id = "base_link"
ranges = []
num_range_readings = int(words[1])
last_range_reading = num_range_readings + 1
for word in words[2:last_range_reading + 1]:
ranges.append(float(word))
ang_range = float(180)
# Get angular resolution
ang_res = (radians(ang_range) / (num_range_readings - 0.0))
# Get max reading
max_reading = 20.
# init laser msg
ang_min = radians(-ang_range / 2.)
ang_max = radians(+ang_range / 2.) - ang_res
laser_msg.angle_min = ang_min
laser_msg.angle_max = ang_max
laser_msg.angle_increment = ang_res
laser_msg.range_min = 0
laser_msg.range_max = max_reading
laser_msg.ranges = ranges
laser_msg.header.stamp = rospy.Time(float(words[last_range_reading + 7]))
return laser_msg
def LaserReceiver():
pub = rospy.Publisher('scanPi', LaserScan, queue_size=10)
rospy.init_node('LaserReceiver', anonymous=True)
rate = rospy.Rate(10) # 10hz
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
sock.bind(("192.168.1.65", 4001))
while not rospy.is_shutdown():
data, addr = sock.recvfrom(15024)
data = json.loads(data)
laser = LaserScan()
laser.header.stamp.secs = data["header"]["stamp"]["secs"]
laser.header.stamp.nsecs = data["header"]["stamp"]["nsecs"]
laser.header.frame_id = data["header"]["frame_id"]
laser.header.seq = data["header"]["seq"]
laser.angle_min = data["angle_min"]
laser.angle_max = data["angle_max"]
laser.angle_increment = data["angle_increment"]
laser.time_increment = data["time_increment"]
laser.range_min = data["range_min"]
laser.range_max = data["range_max"]
laser.scan_time = data["scan_time"]
laser.ranges = data["ranges"]
laser.intensities = data["intensities"]
pub.publish(laser)
rate.sleep()
def data(self,a):
angle = []
for i in reversed(range(90)):
angle.append(i)
for i in range(270,360):
angle.append(i)
Range = [a.ranges[i] for i in angle]
# rospy.loginfo_throttle(2,a.ranges[0])
pub=rospy.Publisher('/CloudPoint',LaserScan,queue_size=10)
msg=LaserScan()
msg.header=a.header
msg.header.frame_id = 'laser'
msg.angle_min=a.angle_min
msg.angle_max=a.angle_max
msg.angle_increment=a.angle_increment
msg.time_increment=a.time_increment
msg.scan_time=a.scan_time
msg.range_min=a.range_min
msg.range_max=a.range_max
List = self.ranges
New = numpy.hstack([List,Range])
self.ranges = New
if len(self.ranges) >=4500:
self.ranges = self.ranges[900:]
msg.ranges=self.ranges
msg.intensities=a.intensities
pub.publish(msg)
print len(msg.ranges)
def handleScanMsg(data):
rospy.loginfo("\n/scan is now being handled...")
#### Setup Corrected-LaserScan Publisher
correctedScan_publisher = rospy.Publisher("/scanCorrected",
LaserScan,
queue_size=10)
correctedScan_msg = LaserScan()
#### Start copying the variables
correctedScan_msg.angle_min = data.angle_min
correctedScan_msg.angle_max = data.angle_max
correctedScan_msg.angle_increment = data.angle_increment
correctedScan_msg.time_increment = data.time_increment
correctedScan_msg.scan_time = data.scan_time
correctedScan_msg.range_min = data.range_min
correctedScan_msg.range_max = data.range_max
correctedScan_msg.intensities = data.intensities
#### Start copying 'ranges' using the corrected values if necessary
# if (+inf) -> change it to (-1)
correctedScan_msg.ranges = [0] * len(data.ranges)
for i in range(len(data.ranges)):
if numpy.isinf(data.ranges[i]):
correctedScan_msg.ranges[i] = -100
else:
correctedScan_msg.ranges[i] = data.ranges[i]
#### Publish msg
rate = rospy.Rate(1800) # 1800hz
correctedScan_publisher.publish(correctedScan_msg)
rospy.loginfo("\n/scanCorrected is now being published...")
rate.sleep()
def laser_test():
pub = rospy.Publisher('laser_scan', LaserScan)
rospy.init_node('laser_test')
laser_msg = LaserScan()
laser_msg.header.frame_id = 'laser'
laser_msg.angle_min = -1.5
laser_msg.angle_max = 1.5
laser_msg.angle_increment = 0.1
laser_msg.time_increment = 0.1
laser_msg.scan_time = 0.1
laser_msg.range_min = 0.5
laser_msg.range_max = 1.5
laser_msg.ranges = [
1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 9.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
1.0, 0.1, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
5.0, 1.0
]
laser_msg.intensities = laser_msg.ranges
r = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
laser_msg.header.stamp = rospy.get_rostime()
pub.publish(laser_msg)
r.sleep()
def scanCallback(self, scan):
rmin = [0 , 315]
rmax = [45, 360]
reduced_scan = LaserScan()
reduced_scan.header = scan.header
reduced_scan.angle_min = scan.angle_min
reduced_scan.angle_max = scan.angle_max
reduced_scan.angle_increment = scan.angle_increment
reduced_scan.time_increment = scan.time_increment
reduced_scan.scan_time = scan.scan_time
reduced_scan.range_min = scan.range_min
reduced_scan.range_max = scan.range_max
reduced_scan.intensities = scan.intensities
for i in range(len(scan.ranges)):
if i >= rmin[0] and i <= rmax[0]-1:
reduced_scan.ranges.append(scan.ranges[i])
elif i >= rmin[1] and i <= rmax[1]-1:
reduced_scan.ranges.append(scan.ranges[i])
else:
reduced_scan.ranges.append(0)
rospy.loginfo("val[%d]:%f", i, reduced_scan.ranges[i])
self.pub_reduced_scan.publish(reduced_scan)
def main():
rospy.init_node('fake_scan', anonymous=True)
scan_subscriber = rospy.Subscriber('/remapped_scan', LaserScan,
scan_callback)
scan_publisher = rospy.Publisher('/scan', LaserScan, queue_size=10)
rate = rospy.Rate(3)
m = 720
empty_scan_msg = LaserScan()
empty_scan_msg.angle_min = -2.3561899662
empty_scan_msg.angle_max = 2.3561899662
empty_scan_msg.angle_increment = 0.0065540750511
empty_scan_msg.time_increment = 0.0
empty_scan_msg.scan_time = 0.0
empty_scan_msg.range_min = 0.10000000149
empty_scan_msg.range_max = 30.0
empty_scan_msg.ranges = [0.0 for i in range(m)]
empty_scan_msg.intensities = [float('inf') for i in range(m)]
h = std_msgs.msg.Header()
h.frame_id = "base_laser"
for i in range(10):
h.stamp = rospy.Time.now()
h.seq += 1
empty_scan_msg.header = h
scan_publisher.publish(empty_scan_msg)
rate.sleep()
#infinite range, zero intensity --> can't detect anyting
empty_scan_msg.ranges = [float('inf') for i in range(m)]
empty_scan_msg.intensities = [0.0 for i in range(m)]
while not rospy.is_shutdown():
h.stamp = rospy.Time.now()
h.seq += 1
empty_scan_msg.header = h
scan_publisher.publish(empty_scan_msg)
rate.sleep()
def merge_scans(rf, sg):
rf.ranges = list(rf.ranges)
for i in range(40):
rf.ranges[len(rf.ranges)-i-1] = 0
if not sg:
rf.header.frame_id = 'laser'
return rf
else:
global angle_min
global angle_max
global angle_increment
global last_scan_time
if not last_scan_time:
last_scan_time = time.time()
scan = LaserScan()
scan.header.frame_id = 'laser'
scan.header.stamp = get_most_recent_timestamp(rf, sg)
scan.angle_min = angle_min
scan.angle_max = angle_max
scan.angle_increment = angle_increment
scan.scan_time = time.time() - last_scan_time
scan.time_increment = scan.scan_time / 541
scan.range_min = rf.range_min
scan.range_max = rf.range_max
scan.ranges = rf.ranges
for i in range(180*2):
if sg.ranges[i] < scan.ranges[90 + i] or scan.ranges[90 + i] == 0:
scan.ranges[90 + i] = sg.ranges[i]
return scan
def _processLaserscan(self, readingType, remappedTimestamp, content):
# FIXME: For type ROBOTLASER, we should publish the robot/sensor pose using TF and use the correct TF frame
laserscan = LaserScan()
laserscan.header = Header(stamp=remappedTimestamp, frame_id="odom", seq=self._laserscanCounter)
if readingType.startswith("RAWLASER") or readingType.startswith("ROBOTLASER"):
laserscan.angle_min = float(content[1])
laserscan.angle_max = laserscan.angle_min + float(content[2])
laserscan.angle_increment = float(content[3])
laserscan.time_increment = 0
laserscan.scan_time = 0.0 # FIXME
laserscan.range_min = 0
laserscan.range_max = float(content[4])
numRanges = int(content[7])
for i in xrange(0, numRanges):
laserscan.ranges.append( float(content[8 + i]) )
numRemissions = int(content[8 + numRanges])
for i in xrange(0, numRemissions):
laserscan.intensities.append( float(content[9 + numRanges + i]) )
else:
rospy.logwarn("Unsupported laser of type %s in line %d" % (readingType, self._lineCounter) )
publisher = self._laserscanPublishers[ self._getLaserID(readingType, content) ]
publisher.publish(laserscan)
self._laserscanCounter += 1
if (self.publishTracks):
self._currentLaserMsgs[self._getLaserID(readingType, content)] = laserscan
def main():
rospy.init_node('laserscan_generator', anonymous = True)
rate = rospy.Rate(30) # 30hz
pub = rospy.Publisher('scan_generated', LaserScan, queue_size=2)
no_points = 300
scan = LaserScan()
scan.header.frame_id = "map"
scan.angle_min = -math.pi+(40*math.pi/180)
scan.angle_max = math.pi-(15*math.pi/180)
scan.angle_increment = 2*math.pi/no_points
scan.time_increment = (1 / 30) / no_points;
scan.range_min = 0.0
scan.range_max = 100.0
#scan.set_ranges_size(100)
#scan.set_intensities_size(100)
for i in range(1, no_points):
if i < (no_points/2):
if i/(no_points/2)*math.pi < abs(scan.angle_min):
scan.ranges.append(10+ i%10 * 0.1)
scan.intensities.append(no_points)
elif i > (no_points/2):
if i/no_points*math.pi < abs(scan.angle_max):
scan.ranges.append(10- i%10 * 0.1)
scan.intensities.append(no_points)
rospy.loginfo("laserscan generated")
while not rospy.is_shutdown():
pub.publish(scan)
rate.sleep()
def getLaserScan(frame_id, laser_scan_line):
# Timestamp [seconds.microseconds]
# # of ranges [unitless]
# Angular offset [1/4 degree]
# R1..R181 Ranges (zero padded to 181 ranges) [m]
#
# 1235603336.30835, 181, 0, 11.360, 11.360, 11.390, 11.410, 81.910, 81.910, 11.380, 11.400, 11.430, 6.450, 6.170, 6.030, 5.880, 5.740, 5.600, 5.470, 5.360, 5.370, 5.390, 5.430, 5.470, 5.500, 5.530, 5.580, 5.610, 5.410, 5.230, 5.130, 5.180, 5.230, 5.280, 5.350, 6.040, 6.110, 6.180, 6.250, 6.330, 6.400, 6.490, 5.950, 5.750, 5.640, 5.520, 5.440, 5.330, 5.220, 5.280, 5.040, 5.490, 5.590, 5.690, 5.810, 5.930, 6.080, 6.210, 6.360, 6.530, 6.690, 6.870, 13.930, 13.770, 13.650, 13.650, 13.530, 13.430, 13.300, 13.190, 13.040, 12.870, 12.780, 12.700, 12.630, 12.550, 12.480, 12.410, 12.360, 12.310, 12.240, 12.200, 12.150, 12.110, 12.070, 12.040, 12.010, 11.990, 11.970, 11.560, 11.930, 11.920, 11.920, 11.910, 11.930, 11.920, 11.920, 11.940, 11.930, 12.830, 12.840, 12.300, 12.130, 12.120, 13.000, 12.250, 12.230, 12.270, 12.330, 12.390, 12.440, 12.520, 12.580, 12.810, 13.640, 13.740, 13.830, 13.940, 13.640, 6.410, 6.220, 6.010, 5.810, 5.640, 5.080, 4.180, 4.090, 4.250, 4.070, 4.050, 3.700, 3.560, 3.510, 3.510, 3.570, 3.430, 3.520, 3.590, 4.940, 4.650, 4.630, 5.050, 5.040, 5.080, 4.890, 2.790, 2.710, 2.660, 2.620, 2.590, 2.600, 2.660, 2.650, 2.630, 2.690, 2.790, 2.900, 4.250, 4.150, 2.510, 2.480, 2.390, 2.360, 2.330, 2.320, 2.300, 2.410, 2.270, 3.930, 2.290, 2.390, 3.850, 3.830, 3.830, 3.710, 4.060, 4.050, 4.040, 4.030, 4.020, 4.010, 4.010, 4.010, 4.010
str_timestamp, str_num_readings, str_angular_offset, str_ranges = laser_scan_line.split(', ', 3)
num_readings = int(str_num_readings)
angular_offset = float(str_angular_offset)
ranges = map(float, str_ranges.split(', ')) #convert array of readings
laser_frequency = 50
angle_range_rad = 180 * np.pi / 180
#populate the LaserScan message
msg = LaserScan()
msg.header.stamp = rospy.Time.now()
msg.header.frame_id = frame_id
msg.angle_min = - (angle_range_rad / 2)
msg.angle_max = (angle_range_rad / 2)
msg.angle_increment = angle_range_rad / num_readings
msg.time_increment = (1 / laser_frequency) / (num_readings)
msg.range_min = 0.0
msg.range_max = 40.0
msg.ranges = ranges
msg.intensities = [0.0] * len(ranges)
return msg
def fake_scan_publisher():
rospy.init_node('fake_scan_publisher')
pub = rospy.Publisher(rospy.get_param("~pubs_topic", "fake_scan"),
LaserScan,
queue_size=10)
rate = rospy.Rate(rospy.get_param("~pubs_rate", 20)) # 20hz
while not rospy.is_shutdown():
current_time = rospy.Time.now()
scan = LaserScan()
scan.header.stamp = current_time
scan.header.frame_id = "base_link"
scan.angle_min = rospy.get_param("~angle_min", -2 * math.pi / 3)
scan.angle_max = rospy.get_param("~angle_max", 2 * math.pi / 3)
scan.angle_increment = rospy.get_param("~angle_increment",
math.pi / 300)
scan.scan_time = 1.0 / 20
scan.range_min = rospy.get_param("~range_min", 1.0)
scan.range_max = rospy.get_param("~range_max", 10.0)
num_readings = int(
(scan.angle_max - scan.angle_min) // scan.angle_increment) + 1
scan.ranges = [0] * num_readings
for i in range(0, num_readings):
scan.ranges[i] = random.uniform(scan.range_min, scan.range_max)
#rospy.loginfo(scan)
pub.publish(scan)
rate.sleep()
def checker(fake_laser_param, realtime_lasers, nonrealtime_lasers):
r = rospy.Rate(RATE)
seq = 0
laser_scan = LaserScan()
laser_scan.header.seq = seq
laser_scan.header.frame_id = fake_laser_param['frame_name']
laser_scan.angle_min = fake_laser_param['angle_min']
laser_scan.angle_max = fake_laser_param['angle_max']
laser_scan.angle_increment = fake_laser_param['angle_increment']
laser_scan.range_min = fake_laser_param['range_min']
laser_scan.range_max = fake_laser_param['range_max']
laser_scan.scan_time = 0
laser_scan.time_increment = 0
pub = rospy.Publisher('/scan', LaserScan, queue_size=10)
while not rospy.is_shutdown():
fake_laser_data = realtime_lasers[0].get_range_data()
for laser_scanner in realtime_lasers[1:]:
new_laser_data = laser_scanner.get_range_data()
fake_laser_data = [min(r1, r2) for r1, r2 in zip(fake_laser_data, new_laser_data)]
for laser_scanner in nonrealtime_lasers:
laser_data = laser_scanner.get_range_data()
#fake_laser_data = [r1 if r1 < 1000 else min(r1, r2) for r1, r2 in zip(fake_laser_data, laser_data)]
fake_laser_data = [min(r1, r2) for r1, r2 in zip(fake_laser_data, laser_data)]
laser_scan.ranges = fake_laser_data
laser_scan.header.stamp = rospy.Time.now()
pub.publish(laser_scan)
seq += 1
r.sleep()
def mergescans(lidarscandata):
global camscans, scansmerged
mergedscan = LaserScan()
mergedscan.header.stamp = lidarscandata.header.stamp
mergedscan.header.frame_id = 'laser_frame'
mergedscan.angle_min = 0.0
mergedscan.angle_max = ANGINC * NUMPOINTS
mergedscan.angle_increment = ANGINC
mergedscan.time_increment = 0.0
mergedscan.scan_time = lidarscandata.scan_time
mergedscan.range_min = lidarscandata.range_min
mergedscan.range_max = lidarscandata.range_max
mergedscan.ranges = []
angle = 0.0
while angle <= mergedscan.angle_max:
distance = 0.0
distance = getlidarscan(angle, lidarscandata)
distcam = getcamscan(angle)
if not distcam == 0.0:
distance = distcam
mergedscan.ranges.append(distance)
angle += ANGINC
scan_pub.publish(mergedscan)
camscans = []
def ls_scan_pub(self, pub, laser_distance1, laser_angle1):
# distance data is from -pi to pi
laser_distance1 = np.array(laser_distance1)
scan_msg = LaserScan()
point_num = 360.0
scan_msg.angle_max = self.angle_max # LS-lidar rotates clockwise, which is disobey right-hand rules for coordinate system
scan_msg.angle_min = self.angle_min
scan_msg.header.frame_id = 'base_laser_link'
scan_msg.angle_increment = 2 * math.pi / point_num
scan_msg.range_min = 0.15
scan_msg.range_max = 3.0
scan_msg.header.stamp = rospy.Time.now()
# print("begin to select")
if (self.angle_min > 0) or (self.angle_max <= 0):
range_part = laser_distance1[(self.angle_range >= self.angle_min) &
(self.angle_range <= self.angle_max)]
scan_msg.ranges = np.flipud(range_part)
else:
range_part1 = laser_distance1[(self.angle_range >= self.angle_min)
& (self.angle_range <= 0)]
range_part2 = laser_distance1[(self.angle_range <= self.angle_max)
& (self.angle_range > 0)]
p1 = np.flipud(range_part1)
p2 = np.flipud(range_part2)
scan_msg.ranges = np.append(p1, p2)
scan_msg.intensities = [255] * len(laser_distance1)
pub.publish(scan_msg)
def handle_scanner_msg(self, args):
# Broadcast scanner transform first
time_now = rospy.Time.now()
pos = self.laser_tf.transform.translation
rot = self.laser_tf.transform.rotation
self.tf_broadcaster.sendTransform((pos.x, pos.y, pos.z),
(rot.x, rot.y, rot.z, rot.w),
time_now,
self.laser_tf.child_frame_id,
self.laser_tf.header.frame_id)
scan = LaserScan()
scan.header.stamp = time_now
scan.header.frame_id = self.base_laser_frame
for (name, par) in args.items():
if name == 'Range':
scan.ranges = [float(s) for s in par.split(',')]
if name == 'FOV':
fov = float(par)
scan.angle_min = -fov/2.0
scan.angle_max = fov/2.0
if name == 'Resolution':
scan.angle_increment = float(par)
scan.range_min = 0.0
scan.range_max = 20.0
self.scan_pub.publish(scan)
def create_lidar_msg(self, L):
raw_lidar = L.data
#stripped_lidar = raw_lidar.translate(None, '[]').translate(None, '"').translate(None, '\'')
array_lidar = raw_lidar.split(";")
lidar_msg = LaserScan()
lidar_msg.header = self.create_header() #self?
lidar_msg.angle_min = math.radians(float(array_lidar[0]))
lidar_msg.angle_max = math.radians(float(array_lidar[1]))
lidar_msg.angle_increment = math.radians(0.25) #MAKE PARAM
lidar_msg.time_increment = 0.025 / (
270 * 4) #time in ms / measurements YOYOYOYO CHECK THIS
lidar_msg.scan_time = float(array_lidar[2]) / 1000 #time in ms
lidar_msg.range_min = float(
array_lidar[4]) / 1000 #sent in mm, should be meters
lidar_msg.range_max = float(
array_lidar[5]) / 1000 #sent in mm, should be meters
array_string = array_lidar[3] #.translate(None, '[]')
string_array = array_string.split(",")
lidar_msg.ranges = [float(r) / 1000
for r in string_array] #better way?
self.scanPub.publish(lidar_msg)
def talker():
pub = rospy.Publisher('scan', LaserScan, queue_size=10)
rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(10) # 10hz
br = tf.TransformBroadcaster()
sequence = 1
while not rospy.is_shutdown():
br.sendTransform((0.1, 0.1, 0),
tf.transformations.quaternion_from_euler(0, 0, 0),
rospy.Time.now(), 'base_laser', 'base_link')
br.sendTransform(
(sequence * 0.01, sequence * 0.01, 0),
tf.transformations.quaternion_from_euler(0, 0, sequence * 0.01),
rospy.Time.now(), 'base_link', 'odom')
scan = LaserScan()
scan.header.seq = sequence
scan.header.stamp = rospy.get_rostime()
scan.header.frame_id = 'base_laser'
scan.angle_min = -0.1
scan.angle_max = 0.1
scan.angle_increment = 0.1
scan.range_max = 5.0
scan.ranges = [4.0, 4.0, 4.0]
scan.intensities = [0.1, 0.1, 0.1]
rospy.logdebug(scan)
pub.publish(scan)
sequence += 1
rate.sleep()
def republish_laser_scan(self,
data,
fov_adjustment=1.0,
publisher=None,
combined_publisher=None):
"""Publish range as laser scan."""
if not self._running:
return
laser_scan_message = LaserScan()
laser_scan_message.range_max = data.max_range
laser_scan_message.range_min = data.min_range
laser_scan_message.angle_min = -(data.field_of_view /
(2 / fov_adjustment))
laser_scan_message.angle_max = data.field_of_view / (2 /
fov_adjustment)
laser_scan_message.angle_increment = data.field_of_view / (
2 / fov_adjustment)
laser_scan_message.ranges = [data.range] * 3
laser_scan_message.header.frame_id = data.header.frame_id
laser_scan_message.header.stamp = data.header.stamp
if publisher is not None:
publisher.publish(laser_scan_message)
if combined_publisher is not None:
combined_publisher.publish(laser_scan_message)
def read(pub):
if (ser.in_waiting >= 9):
a = rospy.Time.now()
# print("read")
Dist_Total = -1
if ((b'Y' == ser.read()) and (b'Y' == ser.read())):
Dist_L = ser.read()
Dist_H = ser.read()
Strength_L = ser.read()
Strength_H = ser.read()
Strength = ord(Strength_L) + 256 * ord(Strength_H)
Mode = ser.read()
tmp = ser.read()
CheckSum = ser.read()
Dist_Total = (ord(Dist_H) * 256) + (ord(Dist_L))
scan = LaserScan()
# print(rospy.Time.now(),Dist_Total)
scan.header.stamp = a
scan.header.frame_id = 'laser_frame'
scan.angle_min = 0.
scan.angle_max = 0.
scan.angle_increment = 0
scan.time_increment = 0
scan.range_min = 30.
scan.range_max = 1200.
scan.ranges = []
scan.intensities = []
scan.ranges.append(Dist_Total)
scan.intensities.append(Strength)
pub.publish(scan)
def handleScanner(self):
scan = LaserScan()
scan.header.stamp = self.current_time
self.ser.write("0")
line = self.ser.readline()
if len(line) <= 3:
return
direction = line[0:2]
if direction == '+:':
self.direction = 1.0
elif direction == '-:':
self.direction = -1.0
else:
return
rospy.logdebug(line)
scan.header.frame_id = 'laser_frame'
scan.angle_min = -1.57 * self.direction
scan.angle_max = 1.57 * self.direction
scan.angle_increment = 3.14 / self.num_readings * self.direction
scan.time_increment = 0.003012 * self.num_readings
scan.range_min = 0.02 # [m]
scan.range_max = 4.00 # [m]
scan.ranges = map(lambda n: 1.0 * int(n) / 1000, line[2:].split(','))
self.scan_pub.publish(scan)
def main():
rospy.init_node('VL53L0X_node', anonymous=True)
timing = tof.get_timing()
while not rospy.is_shutdown():
current_time = rospy.Time.now()
distance = tof.get_distance() # Nuskaityti duomenis
rospy.loginfo("dist={}".format(distance))
# Atmesti negerus duomenis
if distance > 3000 or distance < 0:
distance = 0
# Headeris
laser_scan = LaserScan()
laser_scan.header.stamp = current_time
laser_scan.header.frame_id = "radar"
laser_scan.angle_min = -0.15
laser_scan.angle_max = 0.15
laser_scan.angle_increment = 0.05
laser_scan.time_increment = 0
laser_scan.scan_time = timing
laser_scan.range_min = 0.030
laser_scan.range_max = 2.500
laser_scan.ranges = [float32(distance / 1000)] * 7
pub_scan.publish(laser_scan)
rospy.Rate(1 / (timing / 1000000.00)).sleep()
def create_lidar_msg(L):
raw_lidar = L.data
stripped_lidar = raw_lidar.translate(None, '[]').translate(None,
'"').translate(
None, '\'')
array_lidar = stripped_lidar.split(",")
num_readings = 1440
scan = LaserScan()
scan.header.stamp = rospy.Time.now()
scan.header.frame_id = "base_scan"
scan.angle_min = math.radians(float(array_lidar[0]))
scan.angle_max = math.radians(float(array_lidar[1]))
scan.angle_increment = math.radians(.25) #get from lidar
scan.time_increment = float(25. / num_readings) #time in ms / measurements
scan.scan_time = float(array_lidar[2])
scan.range_min = float(array_lidar[4]) / 1000 #sent in mm, needs m
scan.range_max = float(array_lidar[5]) / 1000 #sent in mm, needs m
# string_array = array_lidar[3].strip("[").strip("]").split(",")
array_string = array_lidar[3].translate(None, '[]')
string_array = array_string.split(",")
scan.ranges = [float(r) / 1000 for r in string_array] #better way?
scanPub.publish(scan)
def callback(data):
laser_angular_range = 100
laser = LaserScan()
print type(data)
middle_index = int(
(data.angle_max - data.angle_min) / data.angle_increment) / 2
angle_increment_degree = data.angle_increment * (180 / PI)
print 'middle_index ', middle_index
print 'angle_increment_degree ', angle_increment_degree
for i in range(int(laser_angular_range / angle_increment_degree)):
laser.ranges.append(
data.ranges[middle_index -
int(laser_angular_range / angle_increment_degree / 2) +
i])
#laser.intensities.append(data.intensities[middle_index-int(laser_angular_range/angle_increment_degree/2)+i])
####################################################
laser.header = data.header
laser.header.frame_id = 'laser'
laser.angle_min = -laser_angular_range / 2 * (PI / 180)
laser.angle_max = laser_angular_range / 2 * (PI / 180)
laser.angle_increment = data.angle_increment
laser.time_increment = data.time_increment
laser.scan_time = data.scan_time
laser.range_min = data.range_min
laser.range_max = data.range_max
print laser.angle_increment
print(laser.angle_max - laser.angle_min) / laser.angle_increment - len(
laser.ranges)
#####################################################
print time.time()
laser_pub.publish(laser)
def prepare_laserscan_msg(self):
'''
Fill laser scan message
'''
laser_scan_msg = LaserScan()
#Step 1:
num_readings = 100
laser_frequency = 40
ranges = []
intensities = []
count = 0
i = 0
#generate some fake data for laser scan
while (i < num_readings):
ranges.append(count)
intensities.append(4 + count)
i = i + 1
#Step 2
now = rospy.get_rostime()
laser_scan_msg.header.stamp = now
laser_scan_msg.header.frame_id = "laser_frame"
laser_scan_msg.angle_min = -1.57
laser_scan_msg.angle_max = 1.57
laser_scan_msg.angle_increment = 3.14 / num_readings
laser_scan_msg.time_increment = (1 / laser_frequency) / (num_readings)
laser_scan_msg.range_min = 0.0
laser_scan_msg.range_max = 4.0
laser_scan_msg.ranges = ranges
laser_scan_msg.intensities = intensities
def callback(data):
n = int(rospy.get_param('~reduction', '2'))
pub=rospy.Publisher('/scan_reduced', LaserScan)
newScan=LaserScan()
newScan=data
newScan.angle_increment=n*data.angle_increment
newScan.ranges=data.ranges[1::n]
pub.publish(newScan)
def spin(self):
encoders = [0,0]
self.x = 0 # position in xy plane
self.y = 0
self.th = 0
then = rospy.Time.now()
# things that don't ever change
scan_link = rospy.get_param('~frame_id','neato_link')
scan = LaserScan(header=rospy.Header(frame_id=scan_link))
scan.angle_min = 0
scan.angle_max = 6.26
scan.angle_increment = 0.017437326
scan.range_min = 0.020
scan.range_max = 5.0
# The LiDAR spins counterclockwise at 10 revolutions per second.
# Each revolution yields 90 packets.
# Each packet contains 22 bytes.
# Within these 22 bytes are 4 distance measurements and more
# (4 data points/packet * 90 packets = 360 data points).
# So there is one data measurement per degree turn.
# Byte 01, "FA" is a starting byte which appears between the ending
# and beginning of two packets.
# Byte 02 is a hex value from A0-F9, representing the 90 packets
# outputted per revolution.
# Byte 03 and 04 are a 16bit (combined) value representing the speed
# at which the LiDAR is rotating.
# Bytes 06 and 05 are 1st distance measurement in this packet.
# Bytes 10 and 09 are 2nd distance measurement in this packet.
# Bytes 14 and 13 are 3rd distance measurement in this packet.
# Bytes 18 and 17 are the 4th distance measurement in this packet.
# Bytes 08:07, 12:11, 16:15, and 20:19 represent information about
# the surface off of which the laser has bounced to be detected by
# the LiDAR.
# Bytes 22 and 21 are checksum and are used for determining the
# validity of the received packet.
# main loop of driver
# r = rospy.Rate(10)
rospy.loginfo("0")
# requestScan()
data = []
i = 0
while not rospy.is_shutdown():
# string = self.port.readline()
byte = self.port.read()
b = ord(byte)
data.append(b)
i = i +1
if i > 1000:
for j in range(0,999):
rospy.loginfo("%d", j);
rospy.loginfo(": {:02X}".format(data[j]));
i = 0
data = []
def sonarsCallback(self, event): sonars = self.rh.sensors.getSonarsMeasurements()['sonars'] laser_msg = LaserScan() laser_msg.ranges.append(sonars['front_right']) laser_msg.ranges.append(sonars['front_left']) laser_msg.range_max = 1.00 laser_msg.angle_increment = 0.785398185253 laser_msg.angle_min = -0.392699092627 self.pub.publish(laser_msg)
def createLaserMessage(self, frameID, keyPrefix, scanNum):
laserScanMsg = LaserScan()
laserScanMsg.header.frame_id = frameID
laserScanMsg.angle_min = self.PEPPER_LASER_MIN_ANGLE
laserScanMsg.angle_max = self.PEPPER_LASER_MAX_ANGLE
laserScanMsg.angle_increment = self.PEPPER_LASER_FOV/scanNum
laserScanMsg.range_min = self.PEPPER_LASER_MIN_RANGE
laserScanMsg.range_max = self.PEPPER_LASER_MAX_RANGE
return laserScanMsg
def update(self):
#############################################################################
now = rospy.Time.now()
if now > self.t_next:
elapsed = now - self.then
self.then = now
elapsed = elapsed.to_sec()
# this approximation works (in radians) for small angles
th = self.th - self.th_pre
self.dr = th / elapsed
# publish the odom information
quaternion = Quaternion()
quaternion.x = self.qx
quaternion.y = self.qy
quaternion.z = self.qz
quaternion.w = self.qw
self.odomBroadcaster.sendTransform(
(self.x, self.y, 0),
(0, 0, quaternion.z, quaternion.w),
rospy.Time.now(),
self.base_frame_id,
self.odom_frame_id,
)
self.laserBroadcaster.sendTransform(
(0, 0, 0), (0, 0, 0, 1), rospy.Time.now(), self.laser_frame_id, self.base_frame_id
)
odom = Odometry()
odom.header.stamp = now
odom.header.frame_id = self.odom_frame_id
odom.pose.pose.position.x = self.x
odom.pose.pose.position.y = self.y
odom.pose.pose.position.z = 0
odom.pose.pose.orientation = quaternion
odom.child_frame_id = self.base_frame_id
odom.twist.twist.linear.x = self.dx
odom.twist.twist.linear.y = 0
odom.twist.twist.angular.z = self.dr
self.odomPub.publish(odom)
laser = LaserScan()
laser.header.stamp = now
laser.header.frame_id = self.laser_frame_id
laser.angle_min = self.laser.angle_min
laser.angle_max = self.laser.angle_max
laser.angle_increment = self.laser.angle_increment
laser.time_increment = self.laser.time_increment
laser.scan_time = self.laser.scan_time
laser.range_min = self.laser.range_min
laser.range_max = self.laser.range_max
laser.ranges = self.laser.ranges
laser.intensities = self.laser.intensities
self.laserPub.publish(laser)
def publish_scan(self, angles, ranges):
ls = LaserScan()
ls.header = Utils.make_header("laser", stamp=self.last_stamp)
ls.angle_min = np.min(angles)
ls.angle_max = np.max(angles)
ls.angle_increment = np.abs(angles[0] - angles[1])
ls.range_min = 0
ls.range_max = np.max(ranges)
ls.ranges = ranges
self.pub_fake_scan.publish(ls)
def publish_laser_msg(self, ranges):
msg = LaserScan()
msg.angle_min = self.robot.laser.min_angle
msg.angle_max = self.robot.laser.max_angle
msg.angle_increment = self.robot.laser.resolution
msg.range_min = 0.0
msg.range_max = self.robot.laser.range
msg.ranges = ranges
msg.header.stamp = rospy.Time.now()
self.laser_publisher.publish(msg)
def make_wallscan(self, data): num_readings = len(data) wall_scan = LaserScan() wall_scan.header.frame_id = "base_laser_link" wall_scan.ranges = data wall_scan.angle_min = -3.14; wall_scan.angle_max = 3.14; wall_scan.angle_increment = (3.14*2) / num_readings; wall_scan.range_min = 0.0; wall_scan.range_max = 5; return wall_scan
def build_laser_scan(self, ranges):
result = LaserScan()
result.header.stamp = rospy.Time.now()
result.angle_min = -almath.PI
result.angle_max = almath.PI
if len(ranges[1]) > 0:
result.angle_increment = (result.angle_max - result.angle_min) / len(ranges[1])
result.range_min = 0.0
result.range_max = ranges[0]
for range_it in ranges[1]:
result.ranges.append(range_it[1])
return result
def create_laser_msg(range_data_array):
ls = LaserScan()
ls.angle_increment = 0.006283185307179586 # 0.36 deg
ls.angle_max = 2.0943951023931953 # 120.0 deg
ls.angle_min = -2.0943951023931953 # -120.0 deg
ls.range_max = 4.0
ls.range_min = 0.02
ls.scan_time = 0.001 # No idea
ls.time_increment = 1.73611115315e-05 # No idea, took from http://comments.gmane.org/gmane.science.robotics.ros.user/5192
ls.header = Header()
ls.header.frame_id = 'laser_link'
ls.ranges = range_data_array
return ls
def inputCallback(self, msg):
#########################################################################
# rospy.loginfo("-D- range_filter inputCallback")
cur_val = msg.value
if cur_val <= self.max_valid and cur_val >= self.min_valid:
self.prev.append(cur_val)
del self.prev[0]
p = array(self.prev)
self.rolling_ave = p.mean()
self.rolling_std = p.std()
self.rolling_meters = ((self.b * self.rolling_ave) ** self.m) / 100
self.filtered_pub.publish( self.rolling_meters )
self.std_pub.publish( self.rolling_std )
rng = Range()
rng.radiation_type = 1
rng.min_range = self.min_range
rng.max_range = self.max_range
rng.range = self.rolling_meters
rng.header.frame_id = self.frame
rng.field_of_view = 0.1
rng.header.stamp = rospy.Time.now()
self.range_pub.publish( rng )
ranges = []
intensities = []
angle_start = 0.0 - self.field_of_view
angle_stop = self.field_of_view
for angle in linspace( angle_start, angle_stop, 10):
ranges.append( self.rolling_meters )
intensities.append( 1.0 )
scan = LaserScan()
scan.ranges = ranges
scan.header.frame_id = self.frame
scan.time_increment = 0;
scan.range_min = self.min_range
scan.range_max = self.max_range
scan.angle_min = angle_start
scan.angle_max = angle_stop
scan.angle_increment = (angle_stop - angle_start) / 10
scan.intensities = intensities
scan.scan_time = self.scan_time
scan.header.stamp = rospy.Time.now()
self.scan_pub.publish( scan )
def publishLaserScan(self,data=None):
scan = LaserScan()
scan.header.seq = 1
scan.header.stamp = rospy.Time.now()
num_readings = 100
laser_frequency = 40
scan.header.frame_id = "base_laser"
scan.angle_min = radians(-30)
scan.angle_max = radians(30)
scan.angle_increment = radians(60) / num_readings
scan.time_increment = (1 / laser_frequency) / (num_readings)
scan.range_min = 0.5
scan.range_max = 6
scan.ranges = [5]*num_readings
self.laserScanPublisher.publish(scan)
def publishZoneScores(self,data, prh_resolution):
"""
Publishes the zone scores
"""
pc = LaserScan()
pc.header.frame_id = "/base_link"
pc.header.stamp = rospy.get_rostime()
pc.angle_min = -np.pi
pc.angle_max = np.pi
pc.angle_increment = prh_resolution
pc.range_min = 0.00
pc.range_max = 5.0
for r in data:
pc.ranges.append(r)
self.zone_score_pub.publish(pc)
def co_callback(coa): # coa = CastObstacleArray
scan = LaserScan()
scan.header.frame_id = '/base_link'
scan.angle_min = 0
n = len(co_msg.obstacles)
scan.angle_min = coa.obstacles[0].theta
scan.angle_max = coa.obstacles[n-1].theta
scan.angle_increment = coa.obstacles[1].theta - coa.obstacles[0].theta
for obs in coa.obstacles:
distance = rho2range(obs.rho)
scan.ranges.append(distance)
scan.range_min = min(scan.range_min, distance)
scan.range_max = max(scan.range_min, distance)
scan_publisher.publish(scan)
def handle_laser_scan(laserMsg,currTime):
scan = LaserScan()
scan.header.stamp = currTime
scan.header.frame_id = "base_link"
scan.angle_min = -1.57
scan.angle_max = 1.57
scan.angle_increment = 3.14/181
scan.time_increment = (1/0.5)/181
scan.range_min = 0.0
scan.range_max = 10.0
scan.ranges = [0.0 for i in xrange(len(laserMsg)-1)]
scan.intensities = [0.0 for i in xrange(len(laserMsg)-1)]
for i in xrange(len(laserMsg)-1):
scan.ranges[i] =laserMsg[i]
scan.intensities[i]= 100
laserPub = rospy.Publisher('scan',LaserScan,queue_size = 1)
laserPub.publish(scan)
rospy.sleep(4.0)
def Cb(self, msg):
n_ranges = list()
pv = msg.data[0]
for i in range(50):
if pv>0.0 and msg.data[i]>0.0:
n_ranges.append((pv+msg.data[i])/2)
else:
n_ranges.append(0.0)
n_ranges.append(msg.data[i])
pv = msg.data[i]
laserMsg = LaserScan()
laserMsg.ranges = n_ranges
laserMsg.angle_increment = 0.2;
laserMsg.time_increment = 1/50
laserMsg.header.frame_id = '/ultra'
laserMsg.header.stamp = rospy.Time.now()
self.scanPub.publish(laserMsg)
def publishPolarHistogram(self):
"""
Publishes the polar histogram
"""
pc = LaserScan()
pc.header.frame_id = "/base_link"
pc.header.stamp = rospy.get_rostime()
pc.angle_min = -np.pi
pc.angle_max = np.pi
pc.angle_increment = self.prh_resolution
pc.range_min = 0.00
pc.range_max = 5.0
self.polar_range_hist_lock.acquire()
for r in self.polar_range_hist:
pc.ranges.append(r)
self.polar_range_hist_lock.release()
self.polar_hist_pub.publish(pc)
def lidar_listener():
port = 5560
kill = False
#init
rospy.loginfo("Initializing LIDAR Listener...");
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind(('', port))
laserpub = rospy.Publisher('/scan', LaserScan)
rospy.init_node('lidar_listener')
message = LaserScan();
message.angle_max = 4.1887
message.angle_increment = .0062832
message.scan_time = .1
message.range_min = .02
message.range_max = 4.0
message.header.frame_id = "/base_laser"
#Loop
rospy.loginfo("LIDAR Listener initialized")
while not rospy.is_shutdown():
try:
raw_data =sock.recv(4096, socket.MSG_DONTWAIT)
message.header.stamp=rospy.Time.now()
if not raw_data:
rospy.logwarn("No Raw Data")
else:
message.ranges=decode(raw_data)
print message.ranges
rospy.logdebug(message.ranges)
laserpub.publish(message)
except socket.error as ex:
if (ex[0] != 11):
rospy.logwarn( "Lidar Listener Socket Exception: ",ex)
else:
rospy.logdebug("Lidar Listener Timed Out");
except Exception as ex:
raise ex
rospy.loginfo("Shutting down LIDAR listener...")
sock.close()
def __init__(self):
rospy.init_node('fake_laser')
# parameters
self.rate = rospy.get_param("~rate", 1.0)
self.frame_id = rospy.get_param("~frame", "base_laser")
self.range_min = rospy.get_param("~range_min", 0.2)
self.range_max = rospy.get_param("~range_max", 5.5)
self.angle_min = rospy.get_param("~angle_min", -1.57)
self.angle_max = rospy.get_param("~angle_max", 1.57)
self.num_readings = rospy.get_param("~num_readings", 100)
self.fixed_reading = rospy.get_param("~fixed_reading", 2.0)
self.scan_time = rospy.get_param("~scan_time", 0.1)
self.angle_increment = (self.angle_max - self.angle_min) / self.num_readings
self.time_increment = self.scan_time / (self.num_readings)
self.scanPub = rospy.Publisher('scan', LaserScan)
rospy.loginfo("Started fake laser node publishing to /scan topic.")
r = rospy.Rate(self.rate)
while not rospy.is_shutdown():
ranges = list()
# Generate the fake data.
for i in range(self.num_readings):
ranges.append(self.fixed_reading * sin(i) * random.uniform(0, 1))
scan = LaserScan()
scan.header.stamp = rospy.Time.now()
scan.header.frame_id = self.frame_id
scan.angle_min = self.angle_min
scan.angle_max = self.angle_max
scan.angle_increment = self.angle_increment
scan.time_increment = self.time_increment
scan.range_min = self.range_min
scan.range_max = self.range_max
scan.ranges = ranges
self.scanPub.publish(scan)
r.sleep()
def build_constant_scan(
range_val, intensity_val,
angle_min, angle_max, angle_increment, scan_time):
count = np.uint(np.ceil((angle_max - angle_min) / angle_increment))
if count < 0:
raise BuildScanException
scan = LaserScan()
scan.header.stamp = rospy.rostime.Time.from_sec(10.10)
scan.header.frame_id = "laser_frame"
scan.angle_min = angle_min
scan.angle_max = angle_max
scan.angle_increment = angle_increment
scan.scan_time = scan_time.to_sec()
scan.range_min = PROJECTION_TEST_RANGE_MIN
scan.range_max = PROJECTION_TEST_RANGE_MAX
scan.ranges = [range_val for _ in range(count)]
scan.intensities = [intensity_val for _ in range(count)]
scan.time_increment = scan_time.to_sec()/count
return scan
def imu_serial():
pub = rospy.Publisher('laser_scan', LaserScan)
rospy.init_node('imu_serial')
laser_msg = LaserScan()
laser_msg.header.frame_id = 'laser'
laser_msg.angle_min = -1.5
laser_msg.angle_max = 1.5
laser_msg.angle_increment = 0.1
laser_msg.time_increment = 0.1
laser_msg.scan_time = 0.1
laser_msg.range_min = 0.5
laser_msg.range_max = 1.5
laser_msg.ranges = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 9.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.1, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 5.0, 1.0]
laser_msg.intensities = laser_msg.ranges
r = rospy.Rate(100) # 10hz
while not rospy.is_shutdown():
laser_msg.header.stamp = rospy.get_rostime()
pub.publish(laser_msg)
r.sleep()
def publish_laser_data(self, publisher):
scan = LaserScan()
scan.header.stamp = rospy.Time.now()
scan.header.frame_id = "base_laser_link"
scan.angle_min = -30 * math.pi / 180
scan.angle_max = 30 * math.pi / 180
scan.angle_increment = 1 * math.pi / 180
scan.range_min = 0.03
scan.range_max = 3.00
scan.ranges = []
# read the ranges from left to right
for i in range(0,15):
scan.ranges.append(self.ranges["ultrasonic_3"])
for i in range(15,30):
scan.ranges.append(self.ranges["ultrasonic_1"])
for i in range(30,45):
scan.ranges.append(self.ranges["ultrasonic_2"])
for i in range(45,60):
scan.ranges.append(self.ranges["ultrasonic_4"])
publisher.publish(scan)
# clear out the scans
self.resetRanges()
def convert_array_to_laser_scan(self, vision_raw_scan):
if vision_raw_scan.size < 100:
return None
header = Header()
header.frame_id = "vision_scan"
#header.stamp = time()
laser_scan = LaserScan()
laser_scan.angle_min = 0.0
laser_scan.angle_max = self.angle_max
laser_scan.angle_increment = self.angle_increment
laser_scan.range_min = 0.0
laser_scan.range_max = self.range_max
#laser_scan.ranges = [0]*360
image_size = vision_raw_scan.shape
if len(image_size) == 3:
vision_raw_scan = cv2.cvtColor(vision_raw_scan, cv2.COLOR_BGR2GRAY)
image_size = vision_raw_scan.shape
if self.init is False:
self._init_lines(image_size)
self.init = True
tasks = list()
for line in range(self.number_lines):
tasks.append((vision_raw_scan, self.lines[line]))
laser_scan.ranges = self.pool.map(_getObstacle, tasks)
#pool.close()
laser_scan.header = header
#laser_scan.scan_time = 1.0/5.0
#laser_scan.time_increment = 1.0/5.0
return laser_scan
