from rviz_view_controllers.msg import CameraPlacement
from geometry_msgs.msg import Point, Vector3

rospy.init_node("camera_test", anonymous = True)

pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement)

rate_float = 10
rate = rospy.Rate(rate_float)

rospy.Rate(2).sleep()

for i in range(3):
  
  t = rospy.get_time()
  cp = CameraPlacement()
 
  cp.attached_frame = "r_forearm_cam_frame"
 
  p = Point(0,0, 0)
  cp.eye.point = p
  cp.eye.header.frame_id = "r_forearm_cam_frame"
  
  f = Point(1, 0, 0)
  cp.focus.point = f
  cp.focus.header.frame_id = "r_forearm_cam_frame"


  up = Vector3(0,0,1)
  cp.up.vector = up
  cp.up.header.frame_id = "r_forearm_cam_frame"
from geometry_msgs.msg import Point, Vector3

rospy.init_node("camera_test", anonymous=True)

pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement)

rate_float = 0.25
rate = rospy.Rate(rate_float)
rospy.sleep(1)

while not rospy.is_shutdown():

    # print "Top of loop!"

    t = rospy.get_time()
    cp = CameraPlacement()
    r = 10

    p = Point(r * cos(2 * pi * t / 20), r * sin(2 * pi * t / 20), 2)
    # p = Point(5,5,0)
    cp.eye.point = p
    cp.eye.header.frame_id = "base_link"

    # f = Point(0, 0, 2*cos(2*pi*t/5))
    f = Point(0, 0, 0)
    cp.focus.point = f
    cp.focus.header.frame_id = "base_link"

    up = Vector3(0, 0, 1)
    cp.up.vector = up
    cp.up.header.frame_id = "base_link"
from rviz_view_controllers.msg import CameraPlacement
from geometry_msgs.msg import Point, Vector3

rospy.init_node("camera_test", anonymous = True)

pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement)

rate_float = 10
rate = rospy.Rate(rate_float)

rospy.Rate(1).sleep()

for i in range(3):
  
  t = rospy.get_time()
  cp = CameraPlacement()
 
  cp.attached_frame = "head_mount_kinect_rgb_link"
 
  p = Point(0,0, 0)
  cp.eye.point = p
  cp.eye.header.frame_id = "head_mount_kinect_rgb_link"
  
  f = Point(1, 0, 0)
  cp.focus.point = f
  cp.focus.header.frame_id = "head_mount_kinect_rgb_link"

  up = Vector3(0,0,1)
  cp.up.vector = up
  cp.up.header.frame_id = "head_mount_kinect_rgb_link"
from rviz_view_controllers.msg import CameraPlacement
from geometry_msgs.msg import Point, Vector3

rospy.init_node("camera_test", anonymous = True)

pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement)

rate_float = 10
rate = rospy.Rate(rate_float)

rospy.Rate(2).sleep()

for i in range(3):
  
  t = rospy.get_time()
  cp = CameraPlacement()
 
  cp.attached_frame = "base_link"
 
  p = Point(2,2, 2)
  cp.eye.point = p
  cp.eye.header.frame_id = "base_link"
  
  f = Point(1, 0, 0)
  cp.focus.point = f
  cp.focus.header.frame_id = "torso_lift_link"

  up = Vector3(0,0,1)
  cp.up.vector = up
  cp.up.header.frame_id = "base_link"
Esempio n. 5
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from rviz_view_controllers.msg import CameraPlacement
from geometry_msgs.msg import Point, Vector3

rospy.init_node("camera_test", anonymous = True)

pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement)

rate_float = 10
rate = rospy.Rate(rate_float)

rospy.Rate(2).sleep()

for i in range(3):
  
  t = rospy.get_time()
  cp = CameraPlacement()
 
  cp.attached_frame = "narrow_stereo_link"
 
  p = Point(0,0, 0)
  cp.eye.point = p
  cp.eye.header.frame_id = "narrow_stereo_link"
  
  f = Point(1, 0, 0)
  cp.focus.point = f
  cp.focus.header.frame_id = "narrow_stereo_link"

  up = Vector3(0,0,1)
  cp.up.vector = up
  cp.up.header.frame_id = "narrow_stereo_link"
from rviz_view_controllers.msg import CameraPlacement
from geometry_msgs.msg import Point, Vector3

rospy.init_node("camera_test", anonymous = True)

pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement)

rate_float = 10
rate = rospy.Rate(rate_float)

rospy.Rate(2).sleep()

for i in range(2):
  
  t = rospy.get_time()
  cp = CameraPlacement()
 
  cp.attached_frame = "head_pan_link"
 
  p = Point(-3, -0.5, 1.3)
  cp.eye.point = p
  cp.eye.header.frame_id = "head_pan_link"
  
  f = Point(0.6, -0.25, 0)
  cp.focus.point = f
  cp.focus.header.frame_id = "head_pan_link"

  up = Vector3(0,0,1)
  cp.up.vector = up
  cp.up.header.frame_id = "base_link"