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 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 _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 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 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 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 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 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 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 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_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 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 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 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 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 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 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 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 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 timer_cb(self, event):
now = rospy.Time.now()
ls = LaserScan()
ls.header.frame_id = self.TF_PREFIX + "laser_link"
ls.header.stamp = now
ls.angle_increment = self.ANGLE_STEP
ls.angle_min = self.ANGLE_MIN
ls.angle_max = self.ANGLE_MAX
ls.range_min = self.MIN_RANGE_METERS
ls.range_max = self.MAX_RANGE_METERS
ls.intensities = []
ranges = np.zeros(len(self.ANGLES) * 1, dtype=np.float32)
try:
base_to_map_trans, base_to_map_rot = self.tl.lookupTransform(
"/map", self.TF_PREFIX + "base_link", rospy.Time(0))
except Exception:
return
laser_quat = Quaternion()
laser_quat.x = base_to_map_rot[0]
laser_quat.y = base_to_map_rot[1]
laser_quat.z = base_to_map_rot[2]
laser_quat.w = base_to_map_rot[3]
laser_angle = utils.quaternion_to_angle(laser_quat)
laser_pose_x = base_to_map_trans[0] + self.x_offset * np.cos(
laser_angle)
laser_pose_y = base_to_map_trans[1] + self.x_offset * np.sin(
laser_angle)
range_pose = np.array((laser_pose_x, laser_pose_y, laser_angle),
dtype=np.float32).reshape(1, 3)
self.range_method.calc_range_repeat_angles(range_pose, self.ANGLES,
ranges)
self.noise_laser_scan(ranges)
ls.ranges = ranges.tolist()
self.laser_pub.publish(ls)
def callback(sub, sub5):
l = [sub.ranges, sub5.range]
ir = sub5.range # sub5.range is the point values of the IR sensor
num_readings = 720
laser_frequency = 20
count = 0
r = rospy.Rate(1.0)
while not rospy.is_shutdown():
current_time = rospy.Time.now()
scan_pub = rospy.Publisher('uvbot_laser_scan', LaserScan,
queue_size=0) # my_laser_scan is my topic
scan = LaserScan()
scan.header.stamp = current_time
scan.header.frame_id = 'hokuyo'
scan.angle_min = -1.57
scan.angle_max = 1.57
scan.angle_increment = 3.14 / num_readings
scan.time_increment = (1.0 / laser_frequency) / (num_readings)
scan.range_min = 0.1
scan.range_max = 10.0
#l = []
#for i in range(720):
#l.append(sub.ranges[i])
#scan.ranges = l
scan.ranges = sub.ranges
if sub5.range < 0.1: # if obstacle from IR is less than 10 cm
for i in range(320, 340):
a = sub5.range # set a variable, to the value of reading
scan.ranges[
i] = a # add the values to the scan.ranges, of my Laserscan topic
scan.intensities = []
if sub5.range > 0.1:
scan.ranges = sub.ranges # if IR data is more than 10 cm, let the scan.ranges(my laser scan topic) be equal to the actual Lidar scan
scan.intensities = []
def _publish_laser_scan(self, pointcloud, startPoint):
scan = LaserScan()
scan.header.stamp = rospy.Time.now()
scan.header.frame_id = 'laser_frame'
scan.range_min = 0.0
scan.range_max = self.range * self.scaling
scan.angle_min = self.angle_min
scan.angle_max = self.angle_max
scan.angle_increment = self.angle_increment
scan.ranges = []
scan.intensities = []
for i in range(0, len(pointcloud)):
if pointcloud[i][2] == 1:
dist = math.hypot(pointcloud[i][0] - startPoint[0],
pointcloud[i][1] - startPoint[1])
scan.ranges.append(self.scaling * dist)
scan.intensities.append(pointcloud[i][2])
else:
scan.ranges.append(scan.range_max)
scan.intensities.append(pointcloud[i][2])
self.laser_scan_publisher.publish(scan)
def publish_filtered_laser_scan(self, laser_original_data,
new_filtered_laser_range):
rospy.logdebug("new_filtered_laser_range==>" +
str(new_filtered_laser_range))
laser_filtered_object = LaserScan()
h = Header()
# Note you need to call rospy.init_node() before this will work
h.stamp = rospy.Time.now()
h.frame_id = laser_original_data.header.frame_id
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
new_angle_incr = abs(laser_original_data.angle_max -
laser_original_data.angle_min) / len(
new_filtered_laser_range)
#laser_filtered_object.angle_increment = laser_original_data.angle_increment
laser_filtered_object.angle_increment = new_angle_incr
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:
if item == 0.0:
laser_distance = 0.1
else:
laser_distance = item
laser_filtered_object.ranges.append(laser_distance)
laser_filtered_object.intensities.append(item)
self.laser_filtered_pub.publish(laser_filtered_object)
def cb():
global last_time
current_time = rospy.Time.now()
ranges = []
msg = LaserScan() #Initialize blank message
msg.header.stamp = rospy.Time.now()
msg.header.frame_id = 'base_link'
msg.angle_min = pi / 6. #rough estimate for position of first sensor
msg.angle_max = 13. * pi / 6. #2pi+ where we started
msg.angle_increment = pi / 3. #6 sensors around robot. Change if configuration changes
msg.time_increment = 0 #used for rotating scanners. this one is simultaneous
msg.scan_time = (current_time - last_time).to_sec() #current time
msg.range_min = 0.004 #rough estimate on how far to the side sensors can detect
msg.range_max = 0.05
for s in sensors: #read each sensor and add to result
try:
ranges.append(float(s.value) * 0.03)
except:
pass
msg.ranges = ranges
publisher.publish(msg)
last_time = current_time
def _msg(self, ranges, intensities, scan_time):
new_time = Time.now()
delta_time = new_time - self._last_time
self._last_time = new_time
msg = LaserScan()
msg.header.frame_id = self._frame_id
msg.header.stamp = Time.now()
msg.angle_max = self.__MAX_ANGLE
msg.angle_min = self.__MIN_ANGLE
msg.angle_increment = self.__ANGLE_INCREMENT
# Note: time_increment is the time between measurements, i.e. how often we read the scan and publish it (in
# seconds)
msg.time_increment = 0.1 #delta_time.secs
# Note: scan_time is the time between scans of the laser, i.e., the time it takes to read 360 degrees.
msg.scan_time = 0.1 # scan_time
msg.range_min = float(self._min_range)
msg.range_max = float(self._max_range)
msg.ranges = [min(max(range, msg.range_min), msg.range_max) for range in ranges]
msg.intensities = intensities
return msg
def generateScanMsg(ranges, intensities, sonarRange, step, maxAngle, minAngle):
"""
Generates the laserScan message for the scan topic
Args:
angle (int): Gradian Angle
data (list): List of intensities
sonarRange (int)
step (int)
"""
msg = LaserScan()
msg.header.stamp = rospy.Time.now()
msg.header.frame_id = 'sonar_frame'
msg.angle_min = 2 * pi * minAngle / 400
msg.angle_max = 2 * pi * maxAngle / 400
msg.angle_increment = 2 * pi * step / 400
msg.time_increment = 0
msg.range_min = .75
msg.range_max = sonarRange
msg.ranges = ranges
msg.intensities = intensities
return msg
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 generate_laser_msg(self, laser_data):
'''Generates a 'LaserScan' message from the input data.
Keyword arguments:
laser_data -- A 'LaserData' object.
Returns:
msg -- A 'LaserScan' message.
'''
laser_scan_msg = LaserScan()
laser_scan_msg.header.stamp = rospy.Time.now()
laser_scan_msg.header.frame_id = laser_data.frame_id
laser_scan_msg.angle_min = self.scanner_min_angle
laser_scan_msg.angle_max = self.scanner_max_angle
laser_scan_msg.angle_increment = self.scanner_angle_increment
laser_scan_msg.time_increment = self.scanner_time_increment
laser_scan_msg.range_min = self.scanner_min_range
laser_scan_msg.range_max = self.scanner_max_range
laser_scan_msg.ranges = self.calculate_ranges(laser_data)
return laser_scan_msg
def process_lidar_data(self, pub_lidar, distances, num_measurement,
scan_times):
scan = LaserScan()
scan.header.stamp = rospy.Time.now()
scan.header.frame_id = 'lidar'
scan.angle_min = 0.0
scan.angle_max = 6.2744
# scan.angle_increment = 6.2744 / num_measurement
# scan.time_increment = scan_times / num_measurement
scan.angle_increment = 0.0174532923847
scan.time_increment = 0.000132342218421
scan.scan_time = scan_times
scan.range_min = 0.15
scan.range_max = 12.0
# print('before')
scan.ranges = distances.tolist()
# scan.ranges = []
# print('after')
# for i in range(num_measurement):
# scan.ranges.append(distances[i])
pub_lidar.publish(scan)
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
def timer_callback(self): # create the message containing the moving average
for i in range(len(self.sensor)):
#print "publishing"
distance = self.sensor[i].readRangeData()
#print distance
#if (distance < 14000 and distance > 200):
terarangers_msg = LaserScan()
terarangers_msg.header.frame_id = "base_range"
terarangers_msg.header.stamp = rospy.Time.now()
terarangers_msg.angle_min = 0
terarangers_msg.angle_max = 0
terarangers_msg.angle_increment = 0
terarangers_msg.time_increment = 0 # 14 metres
terarangers_msg.scan_time = 0
terarangers_msg.range_min = 200
terarangers_msg.range_max = 14000
terarangers_msg.ranges = [distance/1000.0]
terarangers_msg.intensities = [0]
# publish the moving average
self.range_pub[i].publish(terarangers_msg)
rospy.sleep(1.)
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
def scan():
global stepSweep, sweepDir
# Maximum count to the left
countMax = 2420
# Minimum count to the right
countMin = 620
# Populate the LaserScan message
numReadings = (countMax - countMin) / abs(stepSweep)
now = rospy.get_rostime()
msgScan = LaserScan()
msgScan.header.stamp = now
msgScan.header.frame_id = 'base_laser'
msgScan.range_min = 0.010
msgScan.range_max = 2
msgScan.time_increment = 0.04
msgScan.angle_increment = (3.14 / numReadings) * sweepDir
msgScan.angle_min = 1.57 * sweepDir * -1
msgScan.angle_max = 1.57 * sweepDir
msgScan.ranges = []
msgScan.intensities = []
msgScan.ranges = []
# Start and end index based on direction of sweep
if sweepDir > 0:
rangeStart = countMin
rangeEnd = countMax
elif sweepDir < 0:
rangeStart = countMax
rangeEnd = countMin
# Carry out the sweep
for i in range(rangeStart, rangeEnd, stepSweep * sweepDir):
objGpg.set_servo(objGpg.SERVO_1, i)
msgScan.ranges.append(objDstSns.read_range_single() / 1000.0)
# Invert sign of sweepDir to signal sweep direction change
sweepDir = sweepDir * -1
return msgScan
def _receive_message(self,message):
global my
rospy.loginfo(rospy.get_caller_id() + " Message type %s ",self._message_type)
rospy.loginfo(rospy.get_caller_id() + " Time from previous message %s ",(rospy.get_time()-my))
my=rospy.get_time()
try:
msg=LaserScan()
msg.header.seq=message['header']['seq']
msg.header.stamp.secs=message['header']['stamp']['secs']
msg.header.stamp.nsecs=message['header']['stamp']['nsecs']
msg.header.frame_id=message['header']['frame_id']
msg.angle_min=message['angle_min']
msg.angle_max=message['angle_max']
msg.angle_increment=message['angle_increment']
msg.time_increment=message['time_increment']
msg.scan_time=message['scan_time']
msg.range_min=message['range_min']
msg.range_max=message['range_max']
ranges_list=[]
intensities_list=[]
for i in range(len(message['ranges'])):
ranges_list.append(float)
if message['ranges'][i]==None:
ranges_list[i]=float('NaN')
else:
ranges_list[i]=message['ranges'][i]
for i in range(len(message['intensities'])):
intensities_list.append(float)
if message['intensities'][i]==None:
intensities_list[i]=float('NaN')
else:
intensities_list[i]=message['intensities'][i]
msg.ranges=ranges_list
msg.intensities=intensities_list
self._rosPub=rospy.Publisher(self._local_topic_name, LaserScan, queue_size=10)
self._rosPub.publish(msg)
except:
print('Error')
def publish_laser_scan(self):
"""Publish range as laser scan."""
if not self._running:
return
laser_scan_message = LaserScan()
laser_scan_message.range_max = self._scan_max_range + self._scan_robot_radius
laser_scan_message.range_min = self._scan_min_range + self._scan_robot_radius
laser_scan_message.angle_min = self._scan_start
laser_scan_message.angle_max = self._scan_end
laser_scan_message.angle_increment = self._scan_step
# Laser scans are counter clockwise
laser_scan_message.ranges = [
self.calculate_reading(step * self._scan_step + self._scan_start)
for step in reversed(range(self._scan_steps + 1))
]
laser_scan_message.header.frame_id = self._tf_reference_frame
laser_scan_message.header.stamp = self._latest_message
self._merged_topic.publish(laser_scan_message)
def lidarPub(self, timestamp, player):
"""
Publish lidar
"""
scan = self.rcs.runScan(player)
scan_msg = LaserScan()
scan_msg.header.stamp = timestamp
scan_msg.header.frame_id = self.scan_frame
scan_msg.angle_min = -self.car_config["scan_fov"] / 2.0
scan_msg.angle_max = self.car_config["scan_fov"] / 2.0
scan_msg.angle_increment = self.car_config[
"scan_fov"] / self.car_config["scan_beams"]
scan_msg.range_max = self.car_config["scan_max_range"]
scan_msg.ranges = scan
scan_msg.intensities = scan
if player == "one":
self.scan_pub_one.publish(scan_msg)
else:
self.scan_pub_two.publish(scan_msg)
def ls_publisher(line_scan, width):
# Calculate the minimum and maximum angle in degrees
min_max_angle_deg = DEPTH_FOV / 2.
# Convert min and max angles to radians
min_max_angle_rad = np.deg2rad(min_max_angle_deg)
# Calculate the angular resolution
angle_increment = np.deg2rad(DEPTH_FOV) / width
# Create laser scan message object
msg = LaserScan()
msg.angle_min = -min_max_angle_rad
msg.angle_max = min_max_angle_rad
msg.angle_increment = angle_increment
msg.time_increment = 0
msg.scan_time = 1. / RS_FPS
msg.range_min = 0.0
msg.range_max = MAX_RANGE
msg.ranges = line_scan
msg.intensities = np.asanyarray([])
pub = rospy.Publisher('/scan', LaserScan, queue_size=1)
pub.publish(msg)
def _toy_scan_initializer():
"""
Initialize toy LIDAR scan, leave ranges empty and fill in other values
:returns: LaserScan msg, LIDAR scan data; int, number of scan readings
"""
# generate toy laser scan
num_readings = 90
laser_frequency = 40
scan = LaserScan()
scan.header.stamp = 0
scan.header.frame_id = 'laser_frame'
scan.angle_min = - np.pi / 4
scan.angle_max = np.pi / 4
scan.angle_increment = 1.0
scan.time_increment = (1.0 / laser_frequency) / num_readings
scan.range_min = 0.0
scan.range_max = 10.0
scan.ranges = []
scan.intensities = [1] * num_readings
return scan, num_readings
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)
# 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 default(self, ci='unused'):
laserscan = LaserScan()
laserscan.header = self.get_ros_header()
# Note: Scan time and laser frequency are chosen as standard values
laser_frequency = 40 # TODO ? component_instance.frequency()
scan_window = self.component_instance.bge_object['scan_window']
num_readings = scan_window / self.component_instance.bge_object[
'resolution']
laserscan.angle_max = scan_window * math.pi / 360
laserscan.angle_min = laserscan.angle_max * -1
laserscan.angle_increment = scan_window / num_readings * math.pi / 180
laserscan.time_increment = 1 / laser_frequency / num_readings
laserscan.scan_time = 1.0
laserscan.range_min = 0.3
laserscan.range_max = self.component_instance.bge_object['laser_range']
# ROS expect the ranges to be sorted clockwise.
# see morse.builder.sensor.LaserSensorWithArc.create_laser_arc
# where we create the ray from -window / 2.0 to +window / 2.0
laserscan.ranges = self.data['range_list']
self.publish(laserscan)
def callback_get_sonar_scan(self, data):
self.scanFiltered.sonar_range = data.sonar
if (self.scanFiltered.is_water == True):
# Construct LaserScan message
sonarScanMsg = LaserScan()
sonarScanMsg.header = data.header
sonarScanMsg.header.frame_id = "base_scan"
sonarScanMsg.angle_min = -0.1
sonarScanMsg.angle_max = 0.1
sonarScanMsg.angle_increment = 0.1
sonarScanMsg.range_min = 0.02 # unit in meters
sonarScanMsg.range_max = 2.0 # unit in meters
sonarDist = data.sonar / 100 # Convert from cm to meters
sonarScanMsg.ranges = [
sonarDist, sonarDist, sonarDist
] # Easy fix because not able to make pointcloud with 1 point.
# Convert to PointCloud2
cloud_out = self.laserProj.projectLaser(sonarScanMsg)
# Publish PointCloud2
self.pcWaterPub.publish(cloud_out)
def sonar_callback():
scan = LaserScan()
rospy.init_node('task2')
scan_pub = rospy.Publisher('scan', LaserScan, queue_size=50)
num_readings = 100
laser_frequency = 40
ranges[num_readings]=0
intensities[num_readings]=0
count = 0
r = rospy.Rate(1.0)
for i in range (0,num_readings):
ranges[i]=count;
intensities[i]=100+count;
current_time = rospy.Time.now()
scan.header.stamp = current_time
scan.header.frame_id = 'laser_frame'
scan.angle_min = -1.57
scan.angle_max = 1.57
scan.angle_increment = 3.14 / num_readings
scan.time_increment = (1.0 / laser_frequency) / (num_readings)
scan.range_min = 0.0
scan.range_max = 100.0
scan.ranges = []
scan.intensities = []
for i in range(0, num_readings):
scan.ranges.append(1.0 * count) # fake data
scan.intensities.append(1) # fake data
scan_pub.publish(scan)
count += 1
r.sleep()
def laser_callback(self, msg):
filtered_values = LaserScan()
distance = np.array(msg.ranges)
filtered_values.header = msg.header
filtered_values.angle_increment = msg.angle_increment
filtered_values.time_increment = msg.time_increment
filtered_values.scan_time = msg.scan_time
filtered_values.range_min = msg.range_min
filtered_values.range_max = msg.range_max
filtered_values.intensities = msg.intensities
angle = filtered_values.angle_increment
min_angle = msg.angle_min
max_angle = msg.angle_max
median_filter_size = rospy.get_param('median_filter_size')
if median_filter_size < 1:
median_filter_size = 1
elif median_filter_size > len(distance) / 2 - 1:
median_filter_size = int(len(distance) / 2 - 1)
filtered_values_ranges = np.zeros(len(distance))
for i in range(len(distance) - median_filter_size - 1):
if i < median_filter_size:
filtered_values_ranges[i] = 0
else:
filtered_values_ranges[i] = np.median(
distance[(i - median_filter_size):(i + median_filter_size +
1)])
if filtered_values_ranges[
i] > msg.range_max or filtered_values_ranges[i] < 0:
filtered_values_ranges[i] = 0
filtered_values.ranges = filtered_values_ranges
filtered_values.angle_min = min_angle
filtered_values.angle_max = max_angle
self.scan_pub.publish(filtered_values)
def update_lidar():
global x, theta, lidar_seq, pub_lidar
# print("IN lidar_seq")
lidar_len = 400
scan = LaserScan()
inc = 2 * math.pi / lidar_len
ranges = []
for i in range(lidar_len):
phi_lidar = -math.pi + i * inc
phi = theta + phi_lidar
if math.pi / 2 - 0.1 <= abs(phi) <= math.pi / 2 + 0.1:
ranges.append(100)
else:
if abs(phi) < math.pi / 2:
dx = 10 - x
else:
dx = -10 - x
r = dx / math.cos(phi)
if 0 <= r < 40:
ranges.append(r)
else:
ranges.append(100)
scan.header.stamp = rospy.get_rostime()
scan.header.frame_id = "os1_lidar"
scan.header.seq = lidar_seq
lidar_seq += 1
scan.angle_min = -math.pi
scan.angle_max = math.pi
scan.angle_increment = inc
scan.ranges = ranges
scan.range_min = 0.0
scan.range_max = 100.0
scan.scan_time = 0.01
pub_lidar.publish(scan)
def test_range_filter():
"""
Test range filter
"""
print('\n===== Testing range filter =====\n')
# generate toy laser scan
num_readings = 20
laser_frequency = 40
scan = LaserScan()
scan.header.stamp = 0
scan.header.frame_id = 'laser_frame'
scan.angle_min = -1.57
scan.angle_max = 1.57
scan.angle_increment = 3.14 / num_readings
scan.time_increment = (1.0 / laser_frequency) / (num_readings)
scan.range_min = 0.0
scan.range_max = 100.0
scan.ranges = []
scan.intensities = []
for i in range(0, num_readings):
scan.ranges.append(np.random.choice(a=[i, np.inf], p=[0.8, 0.2])) # fake data
scan.intensities.append(1) # fake data
print('\nBefore filter:\n', scan)
# test filter
lower_range = 0.5
upper_range = 10
print('*** Test: lower range: {}, upper range: {} ***'.format(lower_range, upper_range))
range_filter(scan, lower_range, upper_range)
print('\nAfter range filter:\n', scan)
assert len(scan.ranges) == len(scan.intensities) == num_readings
assert np.min(scan.ranges) >= lower_range
assert np.max(scan.ranges) <= upper_range
def update(self, msg):
"""里程计更新
Args:
odom_msg: ros里程计输入
See Also:
_pos: 位置矩阵
_pose_base: 位置基准矩阵
_pose_update: 坐标系变换
_quat: 四元数
"""
scan_filter = LaserScan()
scan_filter.header = msg.header
scan_filter.angle_increment = msg.angle_increment
scan_filter.angle_max = msg.angle_max
scan_filter.angle_min = msg.angle_min
scan_filter.intensities = msg.intensities
scan_filter.scan_time = msg.scan_time
scan_filter.range_max = msg.range_max
scan_filter.range_min = msg.range_min
scan_filter.time_increment = msg.time_increment
scan_range = []
for i in msg.ranges:
if i >= 64:
scan_range.append(float("inf"))
else:
i_fix = i - 0.1
if i_fix < scan_filter.range_min:
i_fix = scan_filter.range_min
scan_range.append(i_fix)
scan_filter.ranges = scan_range
self.scan_msg = scan_filter
self.publish()
def scan_1_callback(self, scan_msg):
scan_1 = scan_msg
scan_filtered_msg = LaserScan()
scan_filtered_msg.header = scan_1.header
scan_filtered_msg.angle_min = scan_1.angle_min
scan_filtered_msg.angle_max = scan_1.angle_max
scan_filtered_msg.angle_increment = scan_1.angle_increment
scan_filtered_msg.time_increment = scan_1.time_increment
scan_filtered_msg.scan_time = scan_1.scan_time
scan_filtered_msg.range_min = scan_1.range_min
scan_filtered_msg.range_max = scan_1.range_max
for i in range(0, len(scan_1.ranges)):
if np.isinf(scan_1.ranges[i]):
if np.isinf(self.scan_2.ranges[i]):
scan_filtered_msg.ranges.append(0)
else:
scan_filtered_msg.ranges.append(scan_1.range_max)
else:
scan_filtered_msg.ranges.append(scan_1.ranges[i])
self.scan_filtered_pub.publish(scan_filtered_msg)
def scan_cb(self, msg):
condensed_scan = LaserScan()
condensed_scan.header = msg.header
condensed_scan.angle_min = msg.angle_min # must be -72 or -fov/2
condensed_scan.angle_max = msg.angle_max # must be 72 or fov/2
condensed_scan.angle_increment = (self.fov /
self.scan_output_size) * self.DEG2RAD
condensed_scan.time_increment = msg.time_increment
condensed_scan.scan_time = msg.scan_time
condensed_scan.range_min = msg.range_min
condensed_scan.range_max = msg.range_max
condensed_scan.intensities = [0.0] * self.scan_output_size
patial_scan = []
for i in range(len(msg.ranges)):
patial_scan.append(msg.ranges[i])
if len(patial_scan) == int(
len(msg.ranges) / self.scan_output_size):
condensed_scan.ranges.append(patial_scan[len(patial_scan) //
2])
patial_scan = []
if len(condensed_scan.ranges) == self.scan_output_size: break
self.scan_pub.publish(condensed_scan)
def lidarToROS(data, avgSpeed=200):
global T
"""Converts data from LiDAR into a LaserScan ROS message """
# Calculate measurement increment time
Tmeasure = T / 360 # A single revolution is divided into 360 measurements
# Create a LaserScan message with the correct values
msg = LaserScan()
msg.header.stamp = rospy.get_rostime()
#msg.header.frame_id = "laser_frame"
msg.angle_min = 0.0
msg.angle_max = 359.0
msg.time_increment = Tmeasure
msg.angle_increment = 1.0
msg.scan_time = 1.0
msg.range_min = 0.15
msg.range_max = 6.0
# Store the data into LaserScan message
for i in range(data.shape[0]):
msg.ranges.append(data[i, 0])
msg.intensities.append(data[i, 1])
return 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
if (self.publishTracks):
self._currentLaserMsgs[self._getLaserID(readingType,
content)] = laserscan
def publish_picked_heading_scan(self, avg_angle, num_pts, laser_scan, pub):
scan = LaserScan()
scan.ranges = [0.0] * num_pts
scan.intensities = [0.0] * num_pts
current_angle = 0
avg_angle = (3.142 - avg_angle) % (2 * 3.142)
for i in range(len(scan.ranges)):
if current_angle >= (avg_angle -
0.1) and current_angle <= (avg_angle + 0.1):
scan.ranges[i] = 1.0 + (i * 0.01)
scan.intensities[i] = 10.0
current_angle += laser_scan.angle_increment
scan.header.stamp = rospy.Time.now()
scan.header.frame_id = laser_scan.header.frame_id
scan.range_min = laser_scan.range_min
scan.range_max = laser_scan.range_max
scan.angle_min = laser_scan.angle_min
scan.angle_max = laser_scan.angle_max
scan.angle_increment = laser_scan.angle_increment
pub.publish(scan)
def ros_pub():
current_time = rospy.Time.now()
global arr
scan = LaserScan()
print "ROS OK!"
scan.header.stamp = current_time
scan.header.frame_id = 'laser'
scan.angle_min = -3.14
scan.angle_max = 3.14
scan.angle_increment = 3.14 * 2 / num_readings
scan.time_increment = (1.0 / laser_frequency) / (num_readings)
scan.range_min = 0.0
scan.range_max = 100.0
scan.ranges = []
scan.intensities = []
scan.ranges = arr
for i in range(0, num_readings):
#scan.ranges.append(10*i) # fake data
scan.intensities.append(50) # fake data
scan_pub.publish(scan)
r.sleep()
def _updateLasers(self):
"""
INTERNAL METHOD, updates the laser values in the ROS framework
"""
if not self.virtual_pepper.laser_manager.isActive():
return
scan = LaserScan()
scan.header.stamp = rospy.get_rostime()
scan.header.frame_id = "base_footprint"
# -120 degres, 120 degres
scan.angle_min = -2.0944
scan.angle_max = 2.0944
# 240 degres FoV, 61 points (blind zones inc)
scan.angle_increment = (2 * 2.0944) / (15.0 + 15.0 + 15.0 + 8.0 + 8.0)
# Detection ranges for the lasers in meters
scan.range_min = 0.1
scan.range_max = 1.5
# Fill the lasers information
right_scan = self.virtual_pepper.getRightLaserValue()
front_scan = self.virtual_pepper.getFrontLaserValue()
left_scan = self.virtual_pepper.getLeftLaserValue()
if isinstance(right_scan, list):
scan.ranges.extend(list(reversed(right_scan)))
scan.ranges.extend([-1]*8)
if isinstance(front_scan, list):
scan.ranges.extend(list(reversed(front_scan)))
scan.ranges.extend([-1]*8)
if isinstance(left_scan, list):
scan.ranges.extend(list(reversed(left_scan)))
self.laser_pub.publish(scan)
