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rosview.py
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rosview.py
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#! /usr/bin/env python3
# -*- coding: utf-8 -*-
# vim:fenc=utf-8
#
# Author: Ozer Ozkahraman (ozkahramanozer@gmail.com)
# Date: 2018-05-24
import rospy
from geometry_msgs.msg import Pose, Point, Quaternion, PoseStamped
from visualization_msgs.msg import Marker, MarkerArray
class RosPoseView:
def __init__(self,
body,
topic,
mesh_path=None,
mesh_scale=(1,1,1),
mesh_rgba=(0,0,0,1)):
self.body = body
self.pub = rospy.Publisher(topic, PoseStamped, queue_size=1)
# prepare the published stuff
# these will simply be updated and not re-created
point = Point()
quat = Quaternion()
pose = Pose()
pose.position = point
pose.orientation = quat
self.pose = pose
self.pose_stamped = PoseStamped()
self.pose_stamped.header.frame_id = '/world'
# start with the current state of the body
self._update_pose()
def _update_pose(self):
x,y,z = self.body.get_position()
self.pose.position.x = x
self.pose.position.y = y
self.pose.position.z = z
x,y,z,w = self.body.get_orientation_quat()
self.pose.orientation.x = x
self.pose.orientation.y = y
self.pose.orientation.z = z
self.pose.orientation.w = w
self.pose_stamped.header.stamp = rospy.Time.now()
self.pose_stamped.pose = self.pose
def update(self):
self._update_pose()
self.pub.publish(self.pose_stamped)
class RosCubeView:
def __init__(self, id, pose_view, scale, rgba):
self.id = id
self.pub = rospy.Publisher('/rviz_cube_'+str(id), Marker, queue_size=1)
self.pose_view = pose_view
marker = Marker()
marker.ns = 'cube'
marker.id = self.id
marker.action = 0
marker.type = 1 # cube
marker.pose = self.pose_view.pose
x,y,z = scale
marker.scale.x = x
marker.scale.y = y
marker.scale.z = z
r,g,b,a = rgba
marker.color.a = a
marker.color.r = r
marker.color.g = g
marker.color.b = b
marker.header.frame_id = '/world'
self.marker = marker
def update(self):
self.pub.publish(self.marker)
class RosMarkerArrayView:
def __init__(self, namespace='array_item'):
self.last_used_id = 0
self.pub = rospy.Publisher('/rviz_marker_array', MarkerArray, queue_size=1)
self.marker_array = MarkerArray()
self.ros_pose_viewers = []
self.namespace = namespace
self.mesh_paths = []
self.mesh_scales = []
self.mesh_rgbas = []
def add_view(self, pose_view, mesh_path, mesh_scale, mesh_rgba):
self.ros_pose_viewers.append(pose_view)
self.mesh_paths.append(mesh_path)
self.mesh_scales.append(mesh_scale)
self.mesh_rgbas.append(mesh_rgba)
def init(self):
for poseview,mesh_path,mesh_scale,mesh_rgba in zip(self.ros_pose_viewers,
self.mesh_paths,
self.mesh_scales,
self.mesh_rgbas):
marker = Marker()
marker.ns = self.namespace
marker.id = self.last_used_id+1
self.last_used_id += 1
marker.action = 0
# 10 for mesh
marker.type = 10
marker.pose = poseview.pose
x,y,z = mesh_scale
marker.scale.x = x
marker.scale.y = y
marker.scale.z = z
r,g,b,a = mesh_rgba
marker.color.a = a
marker.color.r = r
marker.color.g = g
marker.color.b = b
marker.mesh_resource = 'file://'+mesh_path
marker.header.frame_id = '/world'
self.marker_array.markers.append(marker)
def update(self):
self.pub.publish(self.marker_array)
class RosSwarmView:
def __init__(self,
swarm,
mesh_path,
mesh_rgba,
mesh_scale,
namespace='swarm_item',
last_used_id=0):
"""
Similar to marker array view, but this assumes that the given array of stuff
are all identical.
swarm needs to have get_positions() and get_orientation_quats() functions.
if more than 1 swarm view is created, take care of last_used_id!
"""
self.swarm = swarm
self.last_used_id = last_used_id
self.pub = rospy.Publisher('/rviz_swarm', MarkerArray, queue_size=1)
# create these ahead of time, just need to update before publishing
self.marker_array = MarkerArray()
self.poses = []
for i in range(len(swarm.get_position())):
point = Point()
quat = Quaternion()
pose = Pose()
pose.position = point
pose.orientation = quat
marker = Marker()
marker.ns = namespace
marker.id = self.last_used_id+1
self.last_used_id += 1
marker.action = 0
# 10 for mesh
marker.type = 10
marker.pose = pose
x,y,z = mesh_scale
marker.scale.x = x
marker.scale.y = y
marker.scale.z = z
r,g,b,a = mesh_rgba
marker.color.a = a
marker.color.r = r
marker.color.g = g
marker.color.b = b
marker.mesh_resource = 'file://'+mesh_path
marker.header.frame_id = '/world'
self.marker_array.markers.append(marker)
def update(self, frame_locked=False, frame=None):
for pos,quat,marker in zip(self.swarm.get_position(),
self.swarm.get_orientation_quat(),
self.marker_array.markers):
marker.pose.position.x = pos[0]
marker.pose.position.y = pos[1]
marker.pose.position.z = pos[2]
marker.pose.orientation.x = quat[0]
marker.pose.orientation.y = quat[1]
marker.pose.orientation.z = quat[2]
marker.pose.orientation.w = quat[3]
if frame is not None and frame_locked:
marker.frame_locked=frame_locked
marker.header.seq = frame
self.pub.publish(self.marker_array)
if __name__=='__main__':
rospy.init_node('rosviewtest', anonymous=True)
N = 1
ups = 30
rate = rospy.Rate(ups)
from dynamic_point import PIDPoint, VelocityPoint
bodies = []
pose_views = []
for i in range(N):
pidp = PIDPoint(damping=0.05)
# pidp = VelocityPoint(speed=1)
rv = RosPoseView(body=pidp,
topic='/test'+str(i))
bodies.append(pidp)
pose_views.append(rv)
marker_array = RosMarkerArrayView(ros_pose_viewers=pose_views,
mesh_paths=['/home/ozer/suzanne.dae']*N,
mesh_rgbas=[(0.8,0.2,0.5,1)]*N,
mesh_scales=[(1,1,1)]*N)
target_view = RosPoseView(body=bodies[0].target,
topic='/target0')
i = 0
import random
bodies[0].set_target((1,1,0))
while not rospy.is_shutdown():
for body,poseview in zip(bodies,pose_views):
if i%200 == 0:
rx = -5+random.random()*10
ry = -5+random.random()*10
rz = -5+random.random()*10
body.set_target((rx,ry,rz))
body.update(1/ups)
poseview.update()
print('body:',body.pos, 't;', body.target.pos)
marker_array.update()
target_view.update()
rate.sleep()
i += 1
else:
print('rospy is_shutdown')