def __init__(self, argv=None): subst_param = False if argv is None: self.topics = rospy.get_param("~topics") self.blocking = rospy.get_param("~blocking", False) self.queue_size = rospy.get_param("~queue_size", 1) self.update_rate = rospy.get_param("~update_rate", 1.0) subst_param = rospy.get_param("~subst_param", False) else: args = self.parse_args(argv) self.topics = args.topics self.blocking = args.blocking self.queue_size = args.queue_size self.update_rate = args.update_rate subst_param = args.subst_param self.subscribers = {} if subst_param: topics = [] for t in self.topics: keys = REGEX.findall(t) splitted = REGEX.split(t) for i in range(len(splitted)): if splitted[i] in keys: splitted[i] = rospy.get_param(splitted[i]) topics.append(str().join(splitted)) self.topics = topics LoggerBase.__init__(self)
def __init__(self, argv=None): subst_param = False if argv is None: self.topics = rospy.get_param("~topics") self.blocking = rospy.get_param("~blocking", False) self.queue_size = rospy.get_param("~queue_size", 1) subst_param = rospy.get_param("~subst_param", False) else: args = self.parse_args(argv) self.topics = args.topics self.blocking = args.blocking self.queue_size = args.queue_size subst_param = args.subst_param self.subscribers = {} if subst_param: topics = [] for t in self.topics: keys = REGEX.findall(t) splitted = REGEX.split(t) for i in range(len(splitted)): if splitted[i] in keys: splitted[i] = rospy.get_param(splitted[i]) topics.append(str().join(splitted)) self.topics = topics LoggerBase.__init__(self)
def __init__(self): LoggerBase.__init__(self) self.queue_size = rospy.get_param("~queue_size", 30) self.action_regex = re.compile(".*Action(Result|Goal|Feedback)$") self.update_rate = rospy.get_param("~update_rate", 1.0) self.max_rate = rospy.get_param("~max_rate", 3.0) self.last_inserted_time = defaultdict(rospy.Time) self.load_params()
def __init__(self): LoggerBase.__init__(self) self.queue_size = rospy.get_param("~queue_size", 30) self.joint_tolerance = 1.0 self.joint_states = [] self.joint_states_inserted = [] # list of time stamp self.joint_sub = rospy.Subscriber('/joint_states', JointState, self.__joint_states_cb) self.__load_params()
def __init__(self): LoggerBase.__init__(self) self.tf_buffer = tf2_ros.Buffer() self.tf_listener = tf2_ros.TransformListener(self.tf_buffer) rospy.wait_for_service("~tf2_frames") self.get_frames = rospy.ServiceProxy("~tf2_frames", FrameGraph) self.update_rate = rospy.get_param("~update_rate", 1.0) self.timer = rospy.Timer(rospy.Duration(self.update_rate), self.timer_callback)
def __init__(self): LoggerBase.__init__(self) self.queue_size = rospy.get_param("~queue_size", 30) self.action_regex = re.compile(".*Action(Result|Goal|Cancel)$") self.joint_tolerance = 1.0 self.joint_states = [] self.joint_states_inserted = [] # list of time stamp self.joint_sub = rospy.Subscriber('/joint_states', JointState, self.__joint_states_cb) self.__load_params()
def __init__(self): LoggerBase.__init__(self) self.map_frame = rospy.get_param('~map_frame', 'map') self.robot_frame = rospy.get_param('~robot_frame', 'base_footprint') rospy.loginfo("map->robot: %s -> %s" % (self.map_frame, self.robot_frame)) self.tf_timeout = rospy.Duration(rospy.get_param("~tf_timeout", 1.0)) use_tf2 = rospy.get_param("~use_tf2", True) self.tf_listener = TransformListener(use_tf2=use_tf2) self.master = rosgraph.Master("/rostopic") self.subscribers = [] rospy.loginfo("%s initialized" % rospy.get_name())
def __init__(self): LoggerBase.__init__(self) self.map_frame = rospy.get_param('~map_frame','map') self.robot_frame = rospy.get_param('~robot_frame', 'base_link') use_tf2 = rospy.get_param("~use_tf2", True) self.tf_listener = TransformListener(use_tf2=use_tf2) self.initialpose_pub = rospy.Publisher('/initialpose', PoseWithCovarianceStamped, queue_size=1, latch=True) rospy.loginfo("map->robot: %s -> %s" % (self.map_frame, self.robot_frame)) self.current_pose = None self.latest_pose = None self.latest_stamp = rospy.Time(0) self._load_latest_pose() self.pub_latest_pose() self.latest_exception = None
def __init__(self): LoggerBase.__init__(self) self.update_rate = rospy.get_param("~update_rate", 1.0) self.use_amcl = rospy.get_param("~use_amcl", True) self.persistent = rospy.get_param("~persistent", True) self.thre = rospy.get_param('~thre', 0.005) self.rthre = rospy.get_param('~rthre', np.deg2rad(1.0)) if self.use_amcl: self.map_frame = rospy.get_param("/amcl/global_frame_id") self.robot_frame = rospy.get_param("/amcl/base_frame_id") else: self.map_frame = rospy.get_param('~map_frame', 'map') self.robot_frame = rospy.get_param('~robot_frame', 'base_link') if self.map_frame.startswith("/"): self.map_frame = self.map_frame[1:] if self.robot_frame.startswith("/"): self.robot_frame = self.robot_frame[1:] self.tf_listener = TransformListener( use_tf2=rospy.get_param("~use_tf2", True)) self.initialpose_pub = rospy.Publisher('/initialpose', PoseWithCovarianceStamped, queue_size=1, latch=True) rospy.loginfo("map->robot frame: %s -> %s" % (self.map_frame, self.robot_frame)) try: self.latest_pose = self.load_latest_pose() # publish initial pose if possible self.publish_initial_pose(self.latest_pose) except Exception as e: rospy.logerr(e) if self.use_amcl: self.sub_amcl = rospy.Subscriber("/amcl_pose", PoseWithCovarianceStamped, self.amcl_cb, queue_size=1)