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')
