def objects_sub_callback(self, data): lidar_obj = obstacle() lidar_obj.y = 0.0 lidar_obj.x = self.lidar_dist lidar_obj.width = wizzy_width lidar_obj.length = wizzy_length self.objects = data.data
def obj1_creator(): obj1 = obstacle() obj1.depth = 0.5 obj1.height = 1.0 obj1.width = 1.0 obj1.x = 3 obj1.y = 1 obj1.yaw = 0.3 return obj1
def publish_obstacles(obstacle_publisher, obstacle_list): msg_object_array = obstacleArray() msg_object_array.header.stamp = rospy.Time.now() for current_obstacle in obstacle_list: msg_object = obstacle() msg_object.x.data = current_obstacle['x'] msg_object.y.data = current_obstacle['y'] msg_object.z.data = current_obstacle['z'] msg_object.width.data = current_obstacle['width'] msg_object.height.data = current_obstacle['height'] msg_object.length.data = current_obstacle['length'] # should change to length msg_object.classification.data = current_obstacle['classification'] msg_object_array.data.append(msg_object) obstacle_publisher.publish(msg_object_array)
def publish_obstacles(self, obstacle_list): print("Detected {} obstacles".format(len(obstacle_list))) msg_object_array = wizzybug_msgs.obstacleArray() msg_object_array.header.stamp = rospy.Time.now() for obstacle in obstacle_list: msg_object = wizzybug_msgs.obstacle() msg_object.x.data = obstacle['x'] msg_object.y.data = obstacle['y'] msg_object.z.data = obstacle['z'] msg_object.width.data = obstacle['width'] msg_object.height.data = obstacle['height'] msg_object.length.data = obstacle[ 'length'] # should change to length msg_object.classification.data = obstacle['classification'] msg_object_array.data.append(msg_object) self.obstacle_list_pub.publish(msg_object_array)
.format(t, t_horizon, self.cur_ttc, self.cur_azimuth, ang)) def objects_sub_callback(self, data): lidar_obj = obstacle() lidar_obj.y = 0.0 lidar_obj.x = self.lidar_dist lidar_obj.width = wizzy_width lidar_obj.length = wizzy_length self.objects = data.data if __name__ == '__main__': rospy.init_node('ttc_node') # ttc_msg = ttc() lidar_obj = obstacle() obs_msg = obstacleArray() # inputs_container = CallbackItems() obj_sub = rospy.Subscriber('wizzy/obstacle_list', obstacleArray, inputs_container.objects_sub_callback, queue_size=1) lidar_dist_to_obstacle_subscriber = rospy.Subscriber( '/wizzy/lidar_proc', lidar_data, inputs_container.lidar_dist_to_obstacle_callback, queue_size=1) joy_sub = rospy.Subscriber('/cmd_vel',