def get_traj_msg(paths, opt_ind):
ma = MarkerArray()
for id, path in enumerate(paths):
m = Marker()
m.header.frame_id = "/map"
m.header.stamp = rospy.Time.now()
m.id = (id + 1) * 10
m.type = m.POINTS
m.lifetime.secs = 1
c = ColorRGBA()
if opt_ind == id:
m.scale.x = 0.5
m.scale.y = 0.5
m.scale.z = 0.5
c.r = 0 / 255.0
c.g = 0 / 255.0
c.b = 255 / 255.0
c.a = 1
else:
m.scale.x = 0.2
m.scale.y = 0.2
m.scale.z = 0.2
c.r = 255 / 255.0
c.g = 0 / 255.0
c.b = 0 / 255.0
c.a = 0.2
for x, y in zip(path.x, path.y):
p = Point()
p.x, p.y = x, y
m.points.append(p)
m.colors.append(c)
ma.markers.append(m)
return ma
def compute_rgb(data):
# print(data)
color = ColorRGBA()
if data < 1.0 / 3:
color.r = 1.0
color.g = 3.0 * data
color.b = 0.0
if data >= 1.0 / 3 and data < 1.0 / 2:
color.r = 3 - 6.0 * data
color.g = 1.0
color.b = 0.0
if data >= 1.0 / 2 and data < 2.0 / 3:
color.r = 0.0
color.g = 1.0
color.b = 6.0 * data - 3
if data >= 2.0 / 3 and data < 5.0 / 6:
color.r = 0.0
color.g = 5 - 6.0 * data
color.b = 1.0
if data >= 5.0 / 6 and data <= 1.0:
color.r = (900.0 * data - 750) / 255.0
color.g = 0.0
color.b = 1.0
color.a = 1.0
return color
def switch_lights_parser(self, lights_dict):
"""
Parse and use action to switch lights
Parameters
----------
lights_dict: dictionary of light switching parameters
"""
light_name = lights_dict["target_light"]
diffuse = ColorRGBA()
if lights_dict["on"] == True:
diffuse.r = 0.5
diffuse.g = 0.5
diffuse.b = 0.5
diffuse.a = 1.0
attenuation_linear = 0.01
attenuation_quadratic = 0.001
elif lights_dict["on"] == False:
diffuse.r = 0.0
diffuse.g = 0.0
diffuse.b = 0.0
diffuse.a = 0.0
attenuation_linear = 0.00
attenuation_quadratic = 0.0000
else:
rospy.logwarn("invalid light on state parsed")
return
self.set_light_properties(light_name, diffuse, 0.0, attenuation_linear,
attenuation_quadratic)
return
def SetColour(colour):
rgb_colour = ColorRGBA()
rgb_colour.a = 1.0
if colour == "RED":
rgb_colour.r = 1.0
rgb_colour.g = 0.0
rgb_colour.b = 0.0
return rgb_colour
if colour == "GREEN":
rgb_colour.r = 0.0
rgb_colour.g = 1.0
rgb_colour.b = 0.0
return rgb_colour
if colour == "BLUE":
rgb_colour.r = 0.0
rgb_colour.g = 0.0
rgb_colour.b = 1.0
return rgb_colour
if colour == "RANDOM":
rgb_colour.r = random.random()
rgb_colour.g = random.random()
rgb_colour.b = random.random()
return rgb_colour
assert (), "COLOUR not supported, changed to default RED type"
rgb_colour.r = 1.0
rgb_colour.g = 0.0
rgb_colour.b = 0.0
return rgb_colour
def callLedsForDancing(self, blinking_freq):
"""
fColor : the first Color
sColor : the second Color
By defining LedGroup, we will have RGBA of color of each
set of colours.
I suppose that the last parameter of LEDS_BLINK is the frequency,
although its not on the server definition that I have.
"""
fColor = ColorRGBA()
sColor = ColorRGBA()
fColor.r = 0.5
fColor.g = 1.0
fColor.b = 0.5
sColor.r = 0.0
sColor.g = 0.0
sColor.b = 0.0
ledGroup = LedGroup()
first_color_duration = rospy.Duration(FIRST_COLOR_DURATION)
second_color_duration = rospy.Duration(SECOND_COLOR_DURATION)
try:
self.LEDS_BLINK(ledGroup, fColor, sColor, first_color_duration, second_color_duration, BLINK_EFECT_DURATION_DANCING, blinking_freq)
except rospy.ServiceException, e:
print "Service call To Blinking LEDs failed: %s" % e
def Colormap(self, ii, jj):
p = self._visualMap[ii, jj]
c = ColorRGBA()
if p == 2:
c.r = 0.1
c.g = 1.0
c.b = 0.1
c.a = 0.75
elif p == 3:
c.r = 1.0
c.g = 1.0
c.b = 0.1
c.a = 0.75
elif p == 4:
c.r = 1.0
c.g = 1.0
c.b = 1.0
c.a = 0.75
elif p == 5:
c.r = 1.0
c.g = 0.1
c.b = 1.0
c.a = 0.75
else:
c.r = p
c.g = 0.1
c.b = 1.0 - p
c.a = 0.3
return c
def callback(joy): motor = ColorRGBA() color = ColorRGBA() if joy.buttons[0]>0: color.r = 0 color.g = 0 color.b = 150 if joy.buttons[1]>0: color.r = 0 color.g = 150 color.b = 0 if joy.buttons[2]>0: color.r = 150 color.g = 0 color.b = 0 if joy.buttons[3]>0: color.r = 150 color.g = 80 color.b = 0 y=joy.axes[3]*100.0 x=joy.axes[2]*-100.0 ##Ouputs throttle from -100 to 100 f = math.fabs(y/100.0) left = y*f+(1-f)*x right = y*f -(1-f)*x #Change to 0..127..255 motor.b = left*254.0/200.0 +127.0 motor.a = left*254.0/200.0 +127.0 motor.r = right*254.0/200.0 +127.0 motor.g = right*254.0/200.0 +127.0 pub_motor.publish(motor) pub_color.publish(color)
def callback(joy):
motor = ColorRGBA()
color = ColorRGBA()
if joy.buttons[0] > 0:
color.r = 0
color.g = 0
color.b = 150
if joy.buttons[1] > 0:
color.r = 0
color.g = 150
color.b = 0
if joy.buttons[2] > 0:
color.r = 150
color.g = 0
color.b = 0
if joy.buttons[3] > 0:
color.r = 150
color.g = 80
color.b = 0
y = joy.axes[3] * 100.0
x = joy.axes[2] * -100.0
##Ouputs throttle from -100 to 100
f = math.fabs(y / 100.0)
left = y * f + (1 - f) * x
right = y * f - (1 - f) * x
#Change to 0..127..255
motor.b = left * 254.0 / 200.0 + 127.0
motor.a = left * 254.0 / 200.0 + 127.0
motor.r = right * 254.0 / 200.0 + 127.0
motor.g = right * 254.0 / 200.0 + 127.0
pub_motor.publish(motor)
pub_color.publish(color)
def get_color(self, weight, weights):
color = ColorRGBA(0, 0, 0, 1)
if max(weights) != min(weights):
normalized_weight = round(
(weight - min(weights)) / (max(weights) - min(weights)), 5)
color.r = 1 - normalized_weight
color.g = normalized_weight
else:
color.g = 1.0
#rospy.logwarn("normalized_weight is:{} - {} / {} - {} = {}".format(weight, min(weights), max(weights), min(weights), normalized_weight))
return color
def onBumper(data):
rgb = ColorRGBA()
byte = int(data.data)
if byte & 1: rgb.r = 255
if byte & 2: rgb.g = 255
if byte & 4: rgb.b = 255
if byte & 8:
rgb.r = 255
rgb.g = 255
rgb.b = 255
rgbPub.publish(rgb)
def get_color_discrete(self, signal_strength):
color = ColorRGBA(0, 0, 0, 1)
high_threshold = -55.0
low_threshold = -65.0
if signal_strength > high_threshold:
color.g = 1
elif signal_strength < high_threshold and signal_strength > low_threshold:
color.g = 0.5
color.r = 0.5
elif signal_strength < low_threshold:
color.r = 1.0
return color
def __init__(self):
super(CCA, self).__init__()
#UIの初期化
self.initUI()
#ROSのパブリッシャなどの初期化
rospy.init_node('roscca', anonymous=True)
self.mpub = rospy.Publisher('visualization_marker_array', MarkerArray, queue_size=10)
self.ppub = rospy.Publisher('joint_diff', PointStamped, queue_size=10)
#rvizのカラー設定(未)
self.carray = []
clist = [[1,1,0,1],[0,1,0,1],[1,0,0,1]]
for c in clist:
color = ColorRGBA()
color.r = c[0]
color.g = c[1]
color.b = c[2]
color.a = c[3]
self.carray.append(color)
self.fnames=["20151222_a1.json","20151222_a2.json","20151222_a3.json","20151222_b1.json","20151222_b2.json","20151222_b3.json"]
#self.fnames=["20151222_a1.json"]
self.winSizes = [90]
def getLineColor(self):
result = ColorRGBA()
result.a = 1
result.r = 0.8
result.g = 0.1
result.b = 0.1
return result
def pub_color(self, r, g, b, a):
color_msg = ColorRGBA()
color_msg.r = r
color_msg.g = g
color_msg.b = b
color_msg.a = a
self.color_pub.publish(color_msg)
def main():
display_pub = rospy.Publisher('leds/display', Keyframe, queue_size=10)
anim_pub = rospy.Publisher('leds/animation', Animation, queue_size=10)
set_pub = rospy.Publisher('leds/set', Command, queue_size=10)
rospy.init_node('led_anim_clear', anonymous = True)
time.sleep(0.5)
keyframe_msg = Keyframe()
command_msg = Command()
color_msg = ColorRGBA()
anim_msg = Animation()
rospy.loginfo("Single frame test ...")
keyframe_msg.color_pattern = []
color_msg.r = 0.0
color_msg.g = 0.0
color_msg.b = 0.0
keyframe_msg.color_pattern.append(copy.deepcopy(color_msg))
display_pub.publish(keyframe_msg)
time.sleep(0.5)
rospy.loginfo("Clearing the animation...")
anim_msg.iteration_count = 1
anim_pub.publish(anim_msg)
time.sleep(1)
def perform(self, reevaluate=False):
pose_msg = self.blackboard.pathfinding.get_ball_goal(
self.target, self.distance)
self.blackboard.pathfinding.publish(pose_msg)
approach_marker = Marker()
approach_marker.pose.position.x = self.distance
approach_marker.type = Marker.SPHERE
approach_marker.action = Marker.MODIFY
approach_marker.id = 1
color = ColorRGBA()
color.r = 1.0
color.g = 1.0
color.b = 1.0
color.a = 1.0
approach_marker.color = color
approach_marker.lifetime = rospy.Duration(nsecs=0.5)
scale = Vector3(0.2, 0.2, 0.2)
approach_marker.scale = scale
approach_marker.header.stamp = rospy.Time.now()
approach_marker.header.frame_id = self.blackboard.world_model.base_footprint_frame
self.blackboard.pathfinding.approach_marker_pub.publish(
approach_marker)
if self.blackboard.pathfinding.status in [
GoalStatus.SUCCEEDED, GoalStatus.ABORTED
] or not self.blocking:
self.pop()
def MoveToBlob(self,msg): #Moves to the largest blob drivemsg = AckermannDriveStamped() #Sets the drive messaged to the AckermannDriveStamped message type drivemsg.drive.speed = 2 #Sets a field of the drivemsg message. #Gets the position of the largest green blob. The first green blob will be the largest green blob because the blobs are sorted by size. (index 0 is biggest size) ele = ColorRGBA() ele.r = 0 ele.g = 255 largest_green_blob_index = self.blob_detect.colors.index(ele) blob_pos = self.blob_detec.locations[largest_green_bloc_index] #Get's the position of the largest green block blob_x_pos = blob_pos[0] blob_y_pos = blob_pos[1] biggest_blob_area = blob_detec.sizes[0] #The blob with index one is the biggest blob if (biggest_blob_area < 1000): #Keep moving if (blob_x_pos > self.img_width/2): #If Blob is On the right side drivemsg.drive.steering_angle = .33 #Turn left if (blob_x_pos < self.img_width/2): #If Blob is on the left side. drivemsg.drive.steering_angle = -0.33 #Turn right self.pub_mov_func.publish(drivemsg) else: # if the contour is really big, we are close to the sign, so we do an emergency stop. We can delete this if we were to use the lidar. drivemsg.drive.speed = 0 self.pub_mov_func.publish(drivemsg)
def __init__(self):
super(CCA, self).__init__()
#UIの初期化
self.initUI()
#クラス間のデータ渡しテスト
self.test = 100
#ROSのパブリッシャなどの初期化
rospy.init_node('roscca', anonymous=True)
self.mpub = rospy.Publisher('visualization_marker_array', MarkerArray, queue_size=10)
self.ppub = rospy.Publisher('joint_diff', PointStamped, queue_size=10)
#rvizのカラー設定(未)
self.carray = []
clist = [[1,1,0,1],[0,1,0,1],[1,0,0,1]]
for c in clist:
color = ColorRGBA()
color.r = c[0]
color.g = c[1]
color.b = c[2]
color.a = c[3]
self.carray.append(color)
def meshToRos(mesh):
triangles = np.asarray(mesh.triangles)
vertices = np.asarray(mesh.vertices)
vertex_colors = np.asarray(mesh.vertex_colors)
out_msg = Marker()
out_msg.type = out_msg.TRIANGLE_LIST
out_msg.action = out_msg.ADD
out_msg.id = 1
out_msg.scale.x = 1.0
out_msg.scale.y = 1.0
out_msg.scale.z = 1.0
out_msg.pose.position.x = 0
out_msg.pose.position.y = 0
out_msg.pose.position.z = 0
out_msg.pose.orientation.w = 1
out_msg.pose.orientation.x = 0
out_msg.pose.orientation.y = 0
out_msg.pose.orientation.z = 0
for triangle in triangles:
for vertex_index in triangle:
curr_point = Point()
curr_point.x = vertices[vertex_index][0]
curr_point.y = vertices[vertex_index][1]
curr_point.z = vertices[vertex_index][2]
curr_point_color = ColorRGBA()
curr_point_color.r = vertex_colors[vertex_index][2]
curr_point_color.g = vertex_colors[vertex_index][1]
curr_point_color.b = vertex_colors[vertex_index][0]
curr_point_color.a = 1
out_msg.points.append(curr_point)
out_msg.colors.append(curr_point_color)
return out_msg
def adddisplay(points):
pub = rospy.Publisher("visualization_marker", Marker, queue_size=10)
marker = Marker()
marker.header.frame_id = "/world"
marker.type = marker.POINTS
marker.action = marker.ADD
marker.id = 1
marker.scale.x = 0.25
marker.scale.y = 0.25
marker.scale.z = 0.25
result_v = addVoronoi(points)
result = result_v
storepoint=[]
for i in range(len(result)):
for j in range(len(result[i])):
point = Point()
color = ColorRGBA()
color.b = 1
color.g = 1
color.r = 0
color.a = 1
point.x = result[i][j,0]
point.y = result[i][j,1]
point.z = result[i][j,2]
if point.z >= 0:
marker.points.append(point)
marker.colors.append(color)
storepoint.append(point)
pub.publish(marker)
return storepoint
def color(r,g,b,a=1): out = ColorRGBAMsg() out.r = r out.g = g out.b = b out.a = a return out
def pixel_to_color(x, y, image): color = ColorRGBA() color.r = image[x][y][0] color.g = image[x][y][1] color.b = image[x][y][2] color.a = 1.0 return color
def changeColor(self):
command = ColorRGBA()
command.r = int(self.redBox.checkState())
command.g = int(self.greenBox.checkState())
command.b = int(self.blueBox.checkState())
command.a = 0
self.pub2.publish(command)
def make_edge_marker(self):
self.edge_marker = Marker()
self.edge_marker.header.frame_id = self.map_data['MAP_FRAME']
self.edge_marker.header.stamp = rospy.get_rostime()
self.edge_marker.id = 0
self.edge_marker.action = Marker().ADD
self.edge_marker.type = Marker().LINE_LIST
self.edge_marker.lifetime = rospy.Duration()
self.edge_marker.pose.orientation = Quaternion(w=1, x=0, y=0, z=0)
self.edge_marker.scale.x = 0.8
self.edge_marker.ns = "edge"
self.edge_marker.frame_locked = True
for edge in self.map_data['EDGE']:
p0 = Point()
p0.x = self.map_data['NODE'][self.get_index_from_id(
edge['node_id'][0])]['point']['x']
p0.y = self.map_data['NODE'][self.get_index_from_id(
edge['node_id'][0])]['point']['y']
p1 = Point()
p1.x = self.map_data['NODE'][self.get_index_from_id(
edge['node_id'][1])]['point']['x']
p1.y = self.map_data['NODE'][self.get_index_from_id(
edge['node_id'][1])]['point']['y']
self.edge_marker.points.append(p0)
self.edge_marker.points.append(p1)
color = ColorRGBA()
color.r = 0.0
color.g = 0.0
color.b = 1.0
color.a = 0.7
self.edge_marker.colors.append(color)
self.edge_marker.colors.append(color)
def createMarkerVolume(name,
points=[],
color=[1.0, 1.0, 1.0],
map_resolution=0.01,
base_frame='world'):
marker = Marker()
marker.header.frame_id = base_frame
marker.type = Marker.CUBE_LIST
marker.id = 0
marker.action = marker.ADD
marker.ns = name
marker.scale.x = map_resolution
marker.scale.y = map_resolution
marker.scale.z = map_resolution
for p in points:
pp = Point()
pp.x = p[0]
pp.y = p[1]
pp.z = p[2]
marker.points.append(pp)
cc = ColorRGBA()
cc.r = color[0]
cc.g = color[1]
cc.b = color[2]
cc.a = 1.0
marker.colors.append(cc)
return marker
def __init__(self, node):
self._node = node
self._node.get_logger().info('Init ObjectMarker()')
# Initial default marker properties
self.marker = Marker()
self.marker.color.r = 0.0
self.marker.color.g = 1.0
self.marker.color.b = 0.0
self.marker.color.a = 1.0
self.marker.scale.x = 0.0
self.marker.scale.y = 0.0
self.marker.scale.z = 0.0
line_color = ColorRGBA()
line_color.r = 1.0
line_color.g = 1.0
line_color.b = 0.0
line_color.a = 1.0
self.marker.colors.append(line_color)
self.marker.colors.append(line_color)
# Marker topic on Rviz
self._markers_pub = self._node.create_publisher(
MarkerArray, '/object_map/Markers')
def __init__(self, parent=None, width=5, height=5, dpi=100):
#pl.ion()
self.fig = Figure(figsize=(width, height), dpi=dpi)
self.canvas = FigureCanvas(self.fig)
self.canvas.setParent(parent)
self.canvas.mpl_connect('button_press_event', self.on_click)
self.rho_area = self.fig.add_subplot(111)
#self.rho_area = self.fig.add_subplot(211)
self.rho_area.set_title("rho", fontsize=11)
self.fig.tight_layout()
#ROS
rospy.init_node('cor_joints', anonymous=True)
self.mpub = rospy.Publisher('visualization_marker_array',
MarkerArray,
queue_size=10)
#rvizのカラー設定(未)
self.carray = []
clist = [[1, 0, 0, 1], [0, 1, 0, 1], [1, 1, 0, 1], [1, 0.5, 0, 1]]
for c in clist:
color = ColorRGBA()
color.r = c[0]
color.g = c[1]
color.b = c[2]
color.a = c[3]
self.carray.append(color)
self.jidx = [
[11, 3, 2, 10, 1, 0],
[10, 4, 5, 6],
[10, 7, 8, 9],
]
def goal_parts_cb(self, msg: PoseWithCertaintyArray):
arr = []
i = 0
for post in msg.poses:
post_marker = Marker()
pose = Pose()
pose.position = post.pose.pose.position
post_marker.pose = pose
post_marker.pose.position.z = self.post_height / 2
post_marker.pose.orientation = Quaternion()
post_marker.pose.orientation.x = 0
post_marker.pose.orientation.y = 0
post_marker.pose.orientation.z = 0
post_marker.pose.orientation.w = 1
post_marker.type = Marker.CYLINDER
post_marker.action = Marker.MODIFY
post_marker.id = i
post_marker.ns = "rel_goal_parts"
color = ColorRGBA()
color.r = 1.0
color.g = 1.0
color.b = 1.0
color.a = 1.0
post_marker.color = color
post_marker.lifetime = rospy.Duration(nsecs=self.goal_lifetime)
scale = Vector3(self.post_diameter, self.post_diameter,
self.post_height)
post_marker.scale = scale
post_marker.header = msg.header
arr.append(post_marker)
i += 1
self.goal_parts_marker.markers = arr
self.marker_array_publisher.publish(self.goal_parts_marker)
def gen_color(r, g, b):
c = ColorRGBA()
c.r = float(r)
c.g = float(g)
c.b = float(b)
c.a = 1.0
return c
def NewColor(r, g, b, a=1.0):
col = ColorRGBA()
col.r = r
col.g = g
col.b = b
col.a = a
return col
def draw_footprint(self, points):
# print 'PRINT ARIS FOOTPRINT'
marker = Marker()
marker.header.stamp = rospy.Time.now()
marker.header.frame_id = "/girona500"
marker.ns = "aris_foot_print"
marker.id = 1
marker.type = 4 # SPHERE
marker.action = 0 # Add/Modify an object
marker.pose.position.x = 0
marker.pose.position.y = 0
marker.pose.position.z = 0
marker.scale.x = 0.1
marker.scale.y = 0.1
marker.scale.z = 0.1
marker.color.r = 0.0
for i in points:
p = Point()
p.x = i[0]
p.y = i[1]
p.z = i[2]
color = ColorRGBA()
color.r = 0.0
color.g = 0.5
color.b = 0.5
color.a = 0.7
marker.points.append(p)
marker.colors.append(color)
marker.lifetime = rospy.Duration(0.5)
marker.frame_locked = False
self.pub_aris_footprint.publish(marker)
def findNextGoalPt(self, speed, angle=0.0):
"""
Finds the point on the subsampled trajectory that is closest to the desired
lookahead distance (lookahead is proportional to speed), and returns that as a local goal.
"""
lookahead = self.getLookaheadDist(speed)
rospy.loginfo('Lookahead Distance: %f' % lookahead)
self.curr_traj_goal_pt = self.findPtAtDist(lookahead)
self.goal_pose = self.traj_pts[self.curr_traj_goal_pt]
if (self.curr_traj_goal_pt >= len(self.traj_pts) - 5):
self.seeking_end_pt = True
if self.end_time == 0.0:
self.end_time = rospy.get_time()
for p in self.robot_path:
pt = Point32()
pt.x = p[0]
pt.y = p[1]
pt.z = 0.0
color = ColorRGBA()
color.r = 1.0 - p[2]
color.g = p[2]
color.b = 0.0
color.a = 0.75
self.robot_path_marker.points.append(pt)
self.robot_path_marker.colors.append(color)
self.robot_path_pub.publish(self.robot_path_marker)
return
def to_msg(self):
msg = ColorRGBA()
msg.r = self.r / 255.0
msg.g = self.g / 255.0
msg.b = self.b / 255.0
msg.a = 1.0
return msg
def to_msg(self):
msg = ColorRGBA()
msg.r = self.r / 255.0
msg.g = self.g / 255.0
msg.b = self.b / 255.0
msg.a = 1.0
return msg
def __init__(self):
super(CCA, self).__init__()
#UIの初期化
self.initUI()
#ファイル入力
#self.jsonInput()
#ROSのパブリッシャなどの初期化
rospy.init_node('ros_cca_table', anonymous=True)
self.mpub = rospy.Publisher('visualization_marker_array', MarkerArray, queue_size=10)
self.ppub = rospy.Publisher('joint_diff', PointStamped, queue_size=10)
self.carray = []
clist = [[1,1,0,1],[0,1,0,1],[1,0,0,1]]
for c in clist:
color = ColorRGBA()
color.r = c[0]
color.g = c[1]
color.b = c[2]
color.a = c[3]
self.carray.append(color)
def MoveToBlob(self): #Moves to the largest [choose a color] blob self.drive_msg.drive.speed = 2 #Sets a field of the drivemsg message. #Gets the position of the largest green blob. The first green blob will be the largest green blob because the blobs are sorted by size. (index 0 is biggest size). The next three lines #define a specific color that we want to find/move to ele = ColorRGBA() ele.r = 0 ele.g = 255 largest_green_blob_index = self.blob_detect.colors.index(ele) blob_pos = self.blob_detect.locations[largest_green_blob_index] blob_x_pos = blob_pos[0] #This will be in between 0 and 1 (inclusive) (0 is the left and 1 is the right (?)) blob_y_pos = blob_pos[1] #Same thing here blob_area = blob_detect.size[largest_green_blob_index] #Get the area of the largest block of the set of the blocks with the color we specified if (blob_area < 1000): #Keep moving unless the blob_area becomes too big (meaning that we must be very close to the blob, ie it is taking up more of our field of vision. #If the blob_area is "small, we want to keep moving toward the blob while continually centering our field of vision with the blob. if (blob_x_pos > 0.55): #If Blob is On the right side drive_msg.drive.steering_angle = .33 #Turn left elif (blob_x_pos < 0.45): #If Blob is on the left side. drive_msg.drive.steering_angle = -0.33 #Turn right else: #If blob_x_pos (the x component of the blob's centroid) is in the middle 200 pixels, just move forward drive_msg.drive.steering_angle = 0 self.pub_mov_func.publish(drive_msg) else: # if the contour is really big, we are close to the sign, so we do an emergency stop. This is a bit redundant with our emergency stop function that comes from the lidar scan. self.drive_msg.drive.speed = 0 self.pub_mov_func.publish(drive_msg)
def show_text_in_rviz_mullti_line(marker_pub, text):
line_color = ColorRGBA() # a nice color for my line (royalblue)
line_color.r = 0.254902
line_color.g = 0.411765
line_color.b = 0.882353
line_color.a = 1.0
start_point = Point() # start point
start_point.x = 0.2
start_point.y = 0.0
start_point.z = 0.2
end_point = Point() # end point
end_point.x = 20
end_point.y = 20
end_point.z = 20
marker3 = Marker()
marker3.id = 3
marker3.header.frame_id = 'world'
marker3.type = Marker.LINE_STRIP
marker3.ns = 'Testline'
marker3.action = Marker.ADD
marker3.scale.x = 0.8
marker3.points.append(start_point)
marker3.points.append(end_point)
marker3.colors.append(line_color)
marker3.colors.append(line_color)
marker_pub.publish(marker3)
def main():
display_pub = rospy.Publisher('leds/display', Keyframe, queue_size=10)
anim_pub = rospy.Publisher('leds/animation', Animation, queue_size=10)
set_pub = rospy.Publisher('leds/set', Command, queue_size=10)
rospy.init_node('led_anim_clear', anonymous=True)
time.sleep(0.5)
keyframe_msg = Keyframe()
command_msg = Command()
color_msg = ColorRGBA()
anim_msg = Animation()
rospy.loginfo("Single frame test ...")
keyframe_msg.color_pattern = []
color_msg.r = 0.0
color_msg.g = 0.0
color_msg.b = 0.0
keyframe_msg.color_pattern.append(copy.deepcopy(color_msg))
display_pub.publish(keyframe_msg)
time.sleep(0.5)
rospy.loginfo("Clearing the animation...")
anim_msg.iteration_count = 1
anim_pub.publish(anim_msg)
time.sleep(1)
def PubcmdCB(self, event):
robot_orien_pub = rospy.Publisher("/robot_orientation",
Marker,
queue_size=1)
color = ColorRGBA()
scale = Point()
scale.x = 0.05
scale.y = 0.05
scale.z = 0.05
color.r = 2.0
color.g = 0.0
color.b = 0.0
color.a = 1.0
point_marker = Marker()
point_marker.header.frame_id = '/map'
point_marker.header.stamp = rospy.Time.now()
point_marker.ns = 'robot_uni_marker'
point_marker.action = Marker.ADD
point_marker.id = 0
point_marker.type = Marker.ARROW
point_marker.scale.x = scale.x * 5
point_marker.scale.y = scale.y / 2
point_marker.scale.z = scale.z / 2
point_marker.pose = self.marker.pose
point_marker.pose.position.z = self.height + 0.1
point_marker.color = color
point_marker.lifetime = rospy.Duration(0.1)
robot_orien_pub.publish(point_marker)
def make_color_msg(self, rgba):
color = ColorRGBA()
color.r = rgba[0]
color.g = rgba[1]
color.b = rgba[2]
color.a = 1 if len(rgba) < 4 else rgba[3]
return color
def hex_to_color_msg(hex_str):
rgb = struct.unpack('BBB', hex_str.decode('hex'))
msg = ColorRGBA()
msg.r = rgb[0]
msg.g = rgb[1]
msg.b = rgb[2]
msg.a = 1
return msg
def callLedsForCmplxMv(self):
fColor = ColorRGBA()
sColor = ColorRGBA()
fColor.r = 1.0
fColor.g = 1.0
fColor.b = 1.0
sColor.r = 0.0
sColor.g = 0.0
sColor.b = 0.0
ledGroup = LedGroup()
ledGroup.ledMask = 3 # binary mask to decide which leds are active
try:
self.LEDS_BLINK(ledGroup, fColor, sColor, rospy.Duration(0.75), rospy.Duration(0.25), rospy.Duration(5), 50)
except rospy.ServiceException, e:
print "Service call failed: %s" % e
def static_area_makers(self): color = ColorRGBA() scale = Point() scale.x = 0.05 scale.y = 0.05 color.r = 1.0 color.g = 1.0 color.b = 0.0 color.a = 1.0 self.points_marker = self.visual_test(self.static_area, Marker.POINTS, color, scale)
def create_trajectory_marker(self, traj):
# create an interactive marker for our server
int_marker = InteractiveMarker()
int_marker.header.frame_id = "/map"
int_marker.name = traj.uuid
int_marker.description = traj.uuid
pose = Pose()
pose.position.x = traj.pose[0]['position']['x']
pose.position.y = traj.pose[0]['position']['y']
int_marker.pose = pose
line_marker = Marker()
line_marker.type = Marker.LINE_STRIP
line_marker.scale.x = 0.05
# random.seed(traj.uuid)
# val = random.random()
# line_marker.color.r = r_func(val)
# line_marker.color.g = g_func(val)
# line_marker.color.b = b_func(val)
# line_marker.color.a = 1.0
line_marker.points = []
MOD = 1
for i, point in enumerate(traj.pose):
if i % MOD == 0:
x = point['position']['x']
y = point['position']['y']
p = Point()
p.x = x - int_marker.pose.position.x
p.y = y - int_marker.pose.position.y
line_marker.points.append(p)
line_marker.colors = []
for i, vel in enumerate(traj.vel):
if i % MOD == 0:
color = ColorRGBA()
val = vel / traj.max_vel
color.r = r_func(val)
color.g = g_func(val)
color.b = b_func(val)
color.a = 1.0
line_marker.colors.append(color)
# create a control which will move the box
# this control does not contain any markers,
# which will cause RViz to insert two arrows
control = InteractiveMarkerControl()
control.markers.append(line_marker)
int_marker.controls.append(control)
return int_marker
def set_light(self,parameter_name,blocking=False):
ah = action_handle("set", "light", parameter_name, blocking, self.parse)
if(self.parse):
return ah
else:
ah.set_active(mode="topic")
rospy.loginfo("Set light to <<%s>>",parameter_name)
# get joint values from parameter server
if type(parameter_name) is str:
if not rospy.has_param(self.ns_global_prefix + "/light/" + parameter_name):
rospy.logerr("parameter %s does not exist on ROS Parameter Server, aborting...",self.ns_global_prefix + "/light/" + parameter_name)
return 2
param = rospy.get_param(self.ns_global_prefix + "/light/" + parameter_name)
else:
param = parameter_name
# check color parameters
if not type(param) is list: # check outer list
rospy.logerr("no valid parameter for light: not a list, aborting...")
print "parameter is:",param
ah.error_code = 3
return ah
else:
if not len(param) == 3: # check dimension
rospy.logerr("no valid parameter for light: dimension should be 3 (r,g,b) and is %d, aborting...",len(param))
print "parameter is:",param
ah.error_code = 3
return ah
else:
for i in param:
#print i,"type1 = ", type(i)
if not ((type(i) is float) or (type(i) is int)): # check type
#print type(i)
rospy.logerr("no valid parameter for light: not a list of float or int, aborting...")
print "parameter is:",param
ah.error_code = 3
return ah
else:
rospy.logdebug("accepted parameter %f for light",i)
# convert to ColorRGBA message
color = ColorRGBA()
color.r = param[0]
color.g = param[1]
color.b = param[2]
color.a = 1 # Transparency
# publish color
self.pub_light.publish(color)
ah.set_succeeded()
ah.error_code = 0
return ah
def clear_area_makers(self): color = ColorRGBA() scale = Point() scale.x = 0.05 scale.y = 0.05 color.r = 0.0 color.g = 1.0 color.b = 0.0 color.a = 1.0 self.ClearPoints_marker = self.visual_test(self.clear_area, Marker.POINTS, color, scale) print 'finish build markers', len(self.ClearPoints_marker.points)
def LaserDataMarker(self,LaserData): ####################visual_test color=ColorRGBA() scale=Point() scale.x=0.04 scale.y=0.04 color.r=0.0 color.g=2.0 color.b=0.0 color.a=1.0 self.laser_points_marker=self.visual_test(LaserData, Marker.POINTS, color, scale)
def visual_markers(self): color=ColorRGBA() scale=Point() scale.x=0.05 scale.y=0.05 color.r=0.0 color.g=1.0 color.b=0.0 color.a=0.5 self.line_marker=self.visual_test(self.cut_points, Marker.LINE_LIST, color, scale)#标记出区域划分（testing） color=ColorRGBA() scale=Point() scale.x=0.1 scale.y=0.1 color.r=0.0 color.g=0.0 color.b=1.0 color.a=1.0 self.centre_points_marker=self.visual_test(self.centre_points,Marker.POINTS, color, scale)
def changeColor():
pub = rospy.Publisher('light_controller/command', ColorRGBA)
rospy.init_node('light_test')
rospy.sleep(1)
#color in rgb color space ranging from 0 to 1
red = ColorRGBA()
red.r = 1
red.g = 0
red.b = 0
red.a = 1
yellow = ColorRGBA()
yellow.r = 0.4
yellow.g = 1
yellow.b = 0
yellow.a = 1
green = ColorRGBA()
green.r = 0
green.g = 1
green.b = 0
green.a = 1
blue = ColorRGBA()
blue.r = 0
blue.g = 0
blue.b = 1
blue.a = 1
white = ColorRGBA()
white.r = 0.3
white.g = 1
white.b = 0.3
white.a = 1
for color in [red,yellow,green,white,blue,green]:
rospy.loginfo("Setting rgb to [%lf, %lf, %lf] with a [%lf]",color.r,color.g,color.b,color.a)
pub.publish(color)
time.sleep(3)
def changeColor():
pub = rospy.Publisher('light_controller/command_mode', LightMode, queue_size=1)
rospy.init_node('light_test')
light_mode = LightMode()
#color in rgb color space ranging from 0 to 1
red = ColorRGBA()
red.r = 1
red.g = 0
red.b = 0
red.a = 1
yellow = ColorRGBA()
yellow.r = 0.4
yellow.g = 1
yellow.b = 0
yellow.a = 1
green = ColorRGBA()
green.r = 0
green.g = 1
green.b = 0
green.a = 1
blue = ColorRGBA()
blue.r = 0
blue.g = 0
blue.b = 1
blue.a = 1
white = ColorRGBA()
white.r = 0.3
white.g = 1
white.b = 0.3
white.a = 1
for color in [red,yellow,green,white,blue,green]:
rospy.loginfo("Setting rgb to %s [%d, %d, %d]",color.r,color.g,color.b,color.a)
light_mode.colors= 27*[color]
pub.publish(light_mode)
time.sleep(3)
def create_plan_marker(self, plan, plan_values):
# create an interactive marker for our server
int_marker = InteractiveMarker()
int_marker.header.frame_id = "/map"
int_marker.name = plan.ID
int_marker.description = plan.ID
pose = Pose()
#pose.position.x = traj.pose[0]['position']['x']
#pose.position.y = traj.pose[0]['position']['y']
int_marker.pose = pose
line_marker = Marker()
line_marker.type = Marker.LINE_STRIP
line_marker.scale.x = 0.1
# random.seed(float(plan.ID))
# val = random.random()
# line_marker.color.r = r_func(val)
# line_marker.color.g = g_func(val)
# line_marker.color.b = b_func(val)
# line_marker.color.a = 1.0
line_marker.points = []
for view in plan.views:
x = view.get_ptu_pose().position.x
y = view.get_ptu_pose().position.y
z = 0.0 # float(plan.ID) / 10
p = Point()
p.x = x - int_marker.pose.position.x
p.y = y - int_marker.pose.position.y
p.z = z - int_marker.pose.position.z
line_marker.points.append(p)
line_marker.colors = []
for i, view in enumerate(plan.views):
color = ColorRGBA()
val = float(i) / len(plan.views)
color.r = r_func(val)
color.g = g_func(val)
color.b = b_func(val)
color.a = 1.0
line_marker.colors.append(color)
# create a control which will move the box
# this control does not contain any markers,
# which will cause RViz to insert two arrows
control = InteractiveMarkerControl()
control.markers.append(line_marker)
int_marker.controls.append(control)
return int_marker
def callLedsForTurningMv(self, side):
fColor = ColorRGBA()
sColor = ColorRGBA()
fColor.r = 0.5
fColor.g = 1.0
fColor.b = 0.5
sColor.r = 0.0
sColor.g = 0.0
sColor.b = 0.0
ledGroup = LedGroup()
if side == 'LEFT':
ledGroup.ledMask = 1 # binary mask to decide which leds are active
else:
ledGroup.ledMask = 2
try:
self.LEDS_BLINK(ledGroup, fColor, sColor, rospy.Duration(0.75), rospy.Duration(0.25), rospy.Duration(5), 50)
except rospy.ServiceException, e:
print "Service call failed: %s" % e
def callLedsForStraightMv(self, status):
fColor = ColorRGBA()
sColor = ColorRGBA()
fColor.r = 0
if status == 'STRAIGHT':
fColor.g = 0
fColor.b = 0.9
else:
fColor.g = 0.9
fColor.b = 0
sColor.r = 0
sColor.g = 0.9
sColor.b = 0
ledGroup = LedGroup()
ledGroup.ledMask = 3 # binary mask to decide which leds are active
try:
self.LEDS_FADE(ledGroup, fColor, sColor, rospy.Duration(0.5), True, rospy.Duration(2), 50)
except rospy.ServiceException, e:
print "Service call failed: %s" % e
def __init__(self):
#ROSのパブリッシャなどの初期化
#rospy.init_node('ccaviz', anonymous=True)
self.mpub = rospy.Publisher('visualization_marker_array', MarkerArray, queue_size=10)
self.carray = []
clist = [[1, 0, 0, 1], [0, 1, 0, 1], [1, 1, 0, 1], [1, 0.5, 0, 1]]
for c in clist:
color = ColorRGBA()
color.r = c[0]
color.g = c[1]
color.b = c[2]
color.a = c[3]
self.carray.append(color)
def createPointsInMarker(self, data): # track_no_idx = 0 # for i in range(0,768,12): for track_no_idx in self.track_no_idxs: # if not self.rangerate[track_no_idx] == 81.91: point = Point() dist = self.dist [track_no_idx] #data.data[i+9] * .1 angle = self.angle[track_no_idx] #data.data[i+11]* .1 angle_rad = math.radians(angle) point.x = - dist * math.sin(angle_rad) point.y = - dist * math.cos(angle_rad) point.z = 0 color = ColorRGBA() if self.movingflags[track_no_idx]: color.r = 1.0 color.g = 0.0 color.b = 0.0 else: color.r = 0.0 color.g = 1.0 color.b = 0.0 color.a = 1.0 self.marker.points.append( point) self.marker.colors.append( color)
def talker():
lpub = rospy.Publisher('left_eye', ColorRGBA)
rpub = rospy.Publisher('right_eye', ColorRGBA)
rospy.init_node('led_tester')
while not rospy.is_shutdown():
t = rospy.get_rostime().to_sec()
k = 4.0
msg = ColorRGBA()
msg.r = ( 1.0 + sin(0.0 + (k*t)) ) / 2.0
msg.g = ( 1.0 + sin(2.1 + (k*t)) ) / 2.0
msg.b = ( 1.0 + sin(4.2 + (k*t)) ) / 2.0
pub.publish(msg)
rospy.sleep(.1)
def setLightCyanCircle_cb(req):
rospy.wait_for_service('/light_torso/set_light')
try:
set_light_torso = rospy.ServiceProxy("/light_torso/set_light",SetLightMode)
light_mode = LightMode()
cyan_color = ColorRGBA()
cyan_color.r = 0.0
cyan_color.g = 1.0
cyan_color.b = 0.5
cyan_color.a = 0.4
light_mode.colors.append(cyan_color)
light_mode.mode = 7
resp = set_light_torso(light_mode)
print resp
return
except rospy.ServiceException, e:
print "Service call failed: %s"%e
def __init__(self):
self.jsonInput()
super(CCA, self).__init__()
self.initUI()
rospy.init_node('ros_cca', anonymous=True)
self.mpub = rospy.Publisher('visualization_marker_array', MarkerArray, queue_size=10)
self.carray = []
clist = [[1,1,0,1],[0,1,0,1],[1,0,0,1]]
for c in clist:
color = ColorRGBA()
color.r = c[0]
color.g = c[1]
color.b = c[2]
color.a = c[3]
self.carray.append(color)
def __init__(self):
#ROSのパブリッシャなどの初期化
#rospy.init_node('ccaviz', anonymous=True)
fname = "/home/uema/catkin_ws/src/pose_cca/datas/20160520_a2.json"
poses1, poses2, dts, dtd = self.json_pose_input(fname)
self.poses1, self.poses2 = self.select_datas(poses1, poses2)
#print poses1.shape
self.mpub = rospy.Publisher('visualization_marker_array', MarkerArray, queue_size=10)
self.carray = []
clist = [[1, 0, 0, 1], [0, 1, 0, 1], [1, 1, 0, 1], [1, 0.5, 0, 1]]
for c in clist:
color = ColorRGBA()
color.r = c[0]
color.g = c[1]
color.b = c[2]
color.a = c[3]
self.carray.append(color)
import threading
from std_msgs.msg import Float64, ColorRGBA
from geometry_msgs.msg import Point
from racecar.msg import BlobDetections
global colors, color_dims, color_map
colors = ["red", "yellow", "green"]
color_dims = {"red":("r", 150, 1.7, 2.5),\
"yellow": ("g",150, .6, 2.2),\
"green": ("g", 60, 1.5, 1.5)}
redB = ColorRGBA()
redB.r = 255
yellowB = ColorRGBA()
yellowB.r = 255
yellowB.g = 255
greenB = ColorRGBA()
greenB.g = 255
color_map = {"red": redB,"yellow":yellowB,"green":greenB}
#find all the blobs in the thresholded image
def blobdetection(img, cond1, cond2, col):
img2, contours, hierarchy = cv2.findContours(img.copy(), mode = cv2.RETR_CCOMP, method=cv2.CHAIN_APPROX_SIMPLE)#change later for cv
Boxes = []
ImgBox = []
for co in contours:
rect = cv2.minAreaRect(co)
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
center = rect[0]
(w,h) = rect[1]
