def make_kin_tree_from_joint(ps,jointname, ns='default_ns',valuedict=None):
rospy.logdebug("joint: %s"%jointname)
U = get_pr2_urdf()
joint = U.joints[jointname]
joint.origin = joint.origin or urdf.Pose()
if not joint.origin.position: joint.origin.position = [0,0,0]
if not joint.origin.rotation: joint.origin.rotation = [0,0,0]
parentFromChild = conversions.trans_rot_to_hmat(joint.origin.position, transformations.quaternion_from_euler(*joint.origin.rotation))
childFromRotated = np.eye(4)
if valuedict and jointname in valuedict:
if joint.joint_type == 'revolute' or joint.joint_type == 'continuous':
childFromRotated = transformations.rotation_matrix(valuedict[jointname], joint.axis)
elif joint.joint_type == 'prismatic':
childFromRotated = transformations.translation_matrix(np.array(joint.axis)* valuedict[jointname])
parentFromRotated = np.dot(parentFromChild, childFromRotated)
originFromParent = conversions.pose_to_hmat(ps.pose)
originFromRotated = np.dot(originFromParent, parentFromRotated)
newps = gm.PoseStamped()
newps.header = ps.header
newps.pose = conversions.hmat_to_pose(originFromRotated)
return make_kin_tree_from_link(newps,joint.child,ns=ns,valuedict=valuedict)
def make_kin_tree_from_joint(ps, jointname, ns='default_ns', valuedict=None):
rospy.logdebug("joint: %s" % jointname)
U = get_pr2_urdf()
joint = U.joints[jointname]
joint.origin = joint.origin or urdf.Pose()
if not joint.origin.position: joint.origin.position = [0, 0, 0]
if not joint.origin.rotation: joint.origin.rotation = [0, 0, 0]
parentFromChild = conversions.trans_rot_to_hmat(
joint.origin.position,
transformations.quaternion_from_euler(*joint.origin.rotation))
childFromRotated = np.eye(4)
if valuedict and jointname in valuedict:
if joint.joint_type == 'revolute' or joint.joint_type == 'continuous':
childFromRotated = transformations.rotation_matrix(
valuedict[jointname], joint.axis)
elif joint.joint_type == 'prismatic':
childFromRotated = transformations.translation_matrix(
np.array(joint.axis) * valuedict[jointname])
parentFromRotated = np.dot(parentFromChild, childFromRotated)
originFromParent = conversions.pose_to_hmat(ps.pose)
originFromRotated = np.dot(originFromParent, parentFromRotated)
newps = gm.PoseStamped()
newps.header = ps.header
newps.pose = conversions.hmat_to_pose(originFromRotated)
return make_kin_tree_from_link(newps,
joint.child,
ns=ns,
valuedict=valuedict)
def make_kin_tree_from_link(ps,linkname, ns='default_ns',valuedict=None):
markers = []
U = get_pr2_urdf()
link = U.links[linkname]
if link.visual and link.visual.geometry and isinstance(link.visual.geometry,urdf.Mesh):
rospy.logdebug("%s is a mesh. drawing it.", linkname)
marker = Marker(type = Marker.MESH_RESOURCE, action = Marker.ADD)
marker.ns = ns
marker.header = ps.header
linkFromGeom = conversions.trans_rot_to_hmat(link.visual.origin.position, transformations.quaternion_from_euler(*link.visual.origin.rotation))
origFromLink = conversions.pose_to_hmat(ps.pose)
origFromGeom = np.dot(origFromLink, linkFromGeom)
marker.pose = conversions.hmat_to_pose(origFromGeom)
marker.scale = gm.Vector3(1,1,1)
marker.color = stdm.ColorRGBA(1,1,0,.5)
marker.id = 0
marker.lifetime = rospy.Duration()
marker.mesh_resource = str(link.visual.geometry.filename)
marker.mesh_use_embedded_materials = False
markers.append(marker)
else:
rospy.logdebug("%s is not a mesh", linkname)
if U.child_map.has_key(linkname):
for (cjoint,clink) in U.child_map[linkname]:
markers.extend(make_kin_tree_from_joint(ps,cjoint,ns=ns,valuedict=valuedict))
return markers
def hmat_to_trans_rot(hmat):
'''
Converts a 4x4 homogenous rigid transformation matrix to a translation and a
quaternion rotation.
'''
scale, shear, angles, trans, persp = transformations.decompose_matrix(hmat)
rot = transformations.quaternion_from_euler(*angles)
return trans, rot
def hmat_to_trans_rot(hmat):
'''
Converts a 4x4 homogenous rigid transformation matrix to a translation and a
quaternion rotation.
'''
scale, shear, angles, trans, persp = transformations.decompose_matrix(hmat)
rot = transformations.quaternion_from_euler(*angles)
return trans, rot
def run(self):
while not rospy.is_shutdown() and not self.wants_exit:
rot = quaternion_from_euler(*self.transform.R)
trans = self.transform.T
self.br.sendTransform(trans, rot, rospy.Time.now(), "/camera_link", PARENT_FRAME)
ps = gm.PoseStamped()
ps.pose = trans_rot_to_pose(trans, rot)
ps.header.frame_id = "/camera_link"
ps.header.stamp = rospy.Time.now()
self.pose_pub.publish(ps)
rospy.sleep(0.01)
def run(self):
while not rospy.is_shutdown() and not self.wants_exit:
rot = quaternion_from_euler(*self.transform.R)
trans = self.transform.T
self.br.sendTransform(trans, rot, rospy.Time.now(),
"/camera2_link", PARENT_FRAME)
ps = gm.PoseStamped()
ps.pose = trans_rot_to_pose(trans, rot)
ps.header.frame_id = PARENT_FRAME
ps.header.stamp = rospy.Time.now()
self.pose_pub.publish(ps)
rospy.sleep(.01)
def make_kin_tree_from_link(ps, linkname, ns='default_ns', valuedict=None):
markers = []
U = get_pr2_urdf()
link = U.links[linkname]
if link.visual and link.visual.geometry and isinstance(
link.visual.geometry, urdf.Mesh):
rospy.logdebug("%s is a mesh. drawing it.", linkname)
marker = Marker(type=Marker.MESH_RESOURCE, action=Marker.ADD)
marker.ns = ns
marker.header = ps.header
linkFromGeom = conversions.trans_rot_to_hmat(
link.visual.origin.position,
transformations.quaternion_from_euler(
*link.visual.origin.rotation))
origFromLink = conversions.pose_to_hmat(ps.pose)
origFromGeom = np.dot(origFromLink, linkFromGeom)
marker.pose = conversions.hmat_to_pose(origFromGeom)
marker.scale = gm.Vector3(1, 1, 1)
marker.color = stdm.ColorRGBA(1, 1, 0, .5)
marker.id = 0
marker.lifetime = rospy.Duration()
marker.mesh_resource = str(link.visual.geometry.filename)
marker.mesh_use_embedded_materials = False
markers.append(marker)
else:
rospy.logdebug("%s is not a mesh", linkname)
if U.child_map.has_key(linkname):
for (cjoint, clink) in U.child_map[linkname]:
markers.extend(
make_kin_tree_from_joint(ps,
cjoint,
ns=ns,
valuedict=valuedict))
return markers
def yaw_to_quat(yaw):
return transformations.quaternion_from_euler(0, 0, yaw)
def yaw_to_quat(yaw):
return transformations.quaternion_from_euler(0, 0, yaw)