def __init__(self):
# defines
rospy.loginfo(rospy.get_name() + ": Start")
# get parameters
self.update_rate = rospy.get_param("~update_rate", "5") # update frequency [Hz]
self.offset_e = rospy.get_param("~easting_offset",0.0) # [m]
self.offset_n = rospy.get_param("~northing_offset",0.0) # [m]
self.trkpt_threshold = rospy.get_param("~trackpoint_threshold",0.1) # [m]
map_title = rospy.get_param("~map_title", "Track")
map_window_size = rospy.get_param("~map_window_size",5.0) # [inches]
# initialize the polygon map
self.polyplot = polygon_map_plot(map_title, map_window_size, self.offset_e, self.offset_n)
# import polygons
file = open('polygon_map.txt', 'r')
file_content = csv.reader(file, delimiter='\t')
for name,e1,n1,e2,n2,e3,n3,e4,n4 in file_content:
polygon = [[float(e1),float(n1)],[float(e2),float(n2)],[float(e3),float(n3)],[float(e4),float(n4)]]
self.polyplot.add_polygon (polygon)
file.close()
rospy.loginfo(rospy.get_name() + ": Loaded %ld polygons" % self.polyplot.poly_total)
# get topic names
self.pose_topic = rospy.get_param("~pose_sub",'/fmKnowledge/pose')
self.polygon_map_topic = rospy.get_param("~polygon_map_pub",'/fmKnowledge/polygon_map')
# setup subscription topic callbacks
rospy.Subscriber(self.pose_topic, Odometry, self.on_pose_message)
rospy.Subscriber(self.polygon_map_topic, IntStamped, self.on_polygon_map_message)
# call updater function
self.r = rospy.Rate(self.update_rate)
self.updater()
def __init__(self):
# defines
rospy.loginfo(rospy.get_name() + ": Start")
# get parameters
self.update_rate = rospy.get_param("~update_rate",
"5") # update frequency [Hz]
self.offset_e = rospy.get_param("~easting_offset", 0.0) # [m]
self.offset_n = rospy.get_param("~northing_offset", 0.0) # [m]
self.trkpt_threshold = rospy.get_param("~trackpoint_threshold",
0.1) # [m]
map_title = rospy.get_param("~map_title", "Track")
map_window_size = rospy.get_param("~map_window_size", 5.0) # [inches]
# initialize the polygon map
self.polyplot = polygon_map_plot(map_title, map_window_size,
self.offset_e, self.offset_n)
# import polygons
file = open('polygon_map.txt', 'r')
file_content = csv.reader(file, delimiter='\t')
for name, e1, n1, e2, n2, e3, n3, e4, n4 in file_content:
polygon = [[float(e1), float(n1)], [float(e2),
float(n2)],
[float(e3), float(n3)], [float(e4),
float(n4)]]
self.polyplot.add_polygon(polygon)
file.close()
rospy.loginfo(rospy.get_name() +
": Loaded %ld polygons" % self.polyplot.poly_total)
# get topic names
self.pose_topic = rospy.get_param("~pose_sub", '/fmKnowledge/pose')
self.polygon_map_topic = rospy.get_param("~polygon_map_pub",
'/fmKnowledge/polygon_map')
# setup subscription topic callbacks
rospy.Subscriber(self.pose_topic, Odometry, self.on_pose_message)
rospy.Subscriber(self.polygon_map_topic, IntStamped,
self.on_polygon_map_message)
# call updater function
self.r = rospy.Rate(self.update_rate)
self.updater()
import csv
import copy
# initialize the polygon map
polymap = polygon_map()
polymap.set_nearby_threshold(10.0)
polymap.set_polygons_per_update(1600)
# initialize the polygon map plot
map_title = "Field"
map_window_size = 10.0 # [inches]
easting_offset = 0.0 # [m]
northing_offset = 0.0 # [m]
easting_offset = -588815.0 # [m]
northing_offset = -6137299.0 # [m]
polyplot = polygon_map_plot(map_title, map_window_size, easting_offset,
northing_offset)
# import polygons
file = open('TekInnerParcelCornersExtended.csv', 'r')
file_content = csv.reader(file, delimiter='\t')
for name, e1, n1, e2, n2, e3, n3, e4, n4 in file_content:
polygon = [[float(e1), float(n1)], [float(e2), float(n2)],
[float(e3), float(n3)], [float(e4), float(n4)]]
polymap.add_polygon(name, polygon)
polyplot.add_polygon(copy.deepcopy(polygon))
file.close()
print "Polygons imported: %ld" % polymap.poly_total
polyplot.update_map_plot()
import csv
import copy
# initialize the polygon map
polymap = polygon_map()
polymap.set_nearby_threshold (10.0)
polymap.set_polygons_per_update (1600)
# initialize the polygon map plot
map_title = "Field"
map_window_size = 10.0 # [inches]
easting_offset = 0.0 # [m]
northing_offset = 0.0 # [m]
easting_offset = -588815.0 # [m]
northing_offset = -6137299.0 # [m]
polyplot = polygon_map_plot(map_title, map_window_size, easting_offset, northing_offset)
# import polygons
file = open('TekInnerParcelCornersExtended.csv', 'r')
file_content = csv.reader(file, delimiter='\t')
for name,e1,n1,e2,n2,e3,n3,e4,n4 in file_content:
polygon = [[float(e1),float(n1)],[float(e2),float(n2)],[float(e3),float(n3)],[float(e4),float(n4)]]
polymap.add_polygon (name, polygon)
polyplot.add_polygon (copy.deepcopy(polygon))
file.close()
print "Polygons imported: %ld" % polymap.poly_total
polyplot.update_map_plot ()
