def timer_callback(self, timer): ts = rospy.Time.now() # pub scan scan = LaserScan() scan.header.stamp = ts scan.header.frame_id = 'ego_racecar/laser' scan.angle_min = self.angle_min scan.angle_max = self.angle_max scan.angle_increment = self.angle_inc scan.range_min = 0. scan.range_max = 30. scan.ranges = self.ego_scan self.ego_scan_pub.publish(scan) scan = LaserScan() scan.header.stamp = ts scan.header.frame_id = 'ego_racecar/laser' scan.angle_min = self.angle_min scan.angle_max = self.angle_max scan.angle_increment = self.angle_inc scan.range_min = 0. scan.range_max = 30. scan.ranges = self.opp_scan self.opp_scan_pub.publish(scan) # pub tf self.publish_odom(ts) self.publish_transforms(ts) self.publish_laser_transforms(ts) self.publish_wheel_transforms(ts) # pub race info self.publish_race_info(ts)
def callback(self, sensor): #rospy.loginfo(rospy.get_caller_id() + ' I heard %s',sensor.name) laserscan = LaserScan() laserscan.header.stamp = rospy.Time.now() laserscan.header.seq = self.sequence laserscan.header.frame_id = self.default_frame_id self.sequence = self.sequence + 1 if (sensor.name == "Left_Side_Bumper"): laserscan.angle_min = 0.6 laserscan.angle_max = 1 laserscan.range_min = 0.0 laserscan.range_max = 0.3 laserscan.ranges = [0.29, 0.29] elif (sensor.name == "Left_Bumper"): laserscan.angle_min = 0.6 laserscan.angle_max = 1 laserscan.range_min = 0.0 laserscan.range_max = 0.3 laserscan.ranges = [0.29, 0.29] elif (sensor.name == "Right_Bumper"): laserscan.angle_min = -0.6 laserscan.angle_max = 0 laserscan.range_min = 0.0 laserscan.range_max = 0.3 laserscan.ranges = [0.29, 0.29] elif (sensor.name == "Right_Side_Bumper"): laserscan.angle_min = -0.6 laserscan.angle_max = 0 laserscan.range_min = 0.0 laserscan.range_max = 0.3 laserscan.ranges = [0.29, 0.29] #rospy.loginfo(laserscan) self.pub.publish(laserscan)
def republish_laser_scan(self, data, fov_adjustment=1.0, publisher=None, combined_publisher=None): """Publish range as laser scan.""" if not self._running: return laser_scan_message = LaserScan() laser_scan_message.range_max = data.max_range laser_scan_message.range_min = data.min_range laser_scan_message.angle_min = -(data.field_of_view / (2 / fov_adjustment)) laser_scan_message.angle_max = data.field_of_view / (2 / fov_adjustment) laser_scan_message.angle_increment = data.field_of_view / ( 2 / fov_adjustment) laser_scan_message.ranges = [data.range] * 3 laser_scan_message.header.frame_id = data.header.frame_id laser_scan_message.header.stamp = data.header.stamp if publisher is not None: publisher.publish(laser_scan_message) if combined_publisher is not None: combined_publisher.publish(laser_scan_message)
def mergescans(lidarscandata): global camscans, scansmerged mergedscan = LaserScan() mergedscan.header.stamp = lidarscandata.header.stamp mergedscan.header.frame_id = 'laser_frame' mergedscan.angle_min = 0.0 mergedscan.angle_max = ANGINC * NUMPOINTS mergedscan.angle_increment = ANGINC mergedscan.time_increment = 0.0 mergedscan.scan_time = lidarscandata.scan_time mergedscan.range_min = lidarscandata.range_min mergedscan.range_max = lidarscandata.range_max mergedscan.ranges = [] angle = 0.0 while angle <= mergedscan.angle_max: distance = 0.0 distance = getlidarscan(angle, lidarscandata) distcam = getcamscan(angle) if not distcam == 0.0: distance = distcam mergedscan.ranges.append(distance) angle += ANGINC scan_pub.publish(mergedscan) camscans = []
def main(): rospy.init_node('laserscan_generator', anonymous = True) rate = rospy.Rate(30) # 30hz pub = rospy.Publisher('scan_generated', LaserScan, queue_size=2) no_points = 300 scan = LaserScan() scan.header.frame_id = "map" scan.angle_min = -math.pi+(40*math.pi/180) scan.angle_max = math.pi-(15*math.pi/180) scan.angle_increment = 2*math.pi/no_points scan.time_increment = (1 / 30) / no_points; scan.range_min = 0.0 scan.range_max = 100.0 #scan.set_ranges_size(100) #scan.set_intensities_size(100) for i in range(1, no_points): if i < (no_points/2): if i/(no_points/2)*math.pi < abs(scan.angle_min): scan.ranges.append(10+ i%10 * 0.1) scan.intensities.append(no_points) elif i > (no_points/2): if i/no_points*math.pi < abs(scan.angle_max): scan.ranges.append(10- i%10 * 0.1) scan.intensities.append(no_points) rospy.loginfo("laserscan generated") while not rospy.is_shutdown(): pub.publish(scan) rate.sleep()
def merge_scans(rf, sg): rf.ranges = list(rf.ranges) for i in range(40): rf.ranges[len(rf.ranges) - i - 1] = 0 if not sg: rf.header.frame_id = 'laser' return rf else: global angle_min global angle_max global angle_increment global last_scan_time if not last_scan_time: last_scan_time = time.time() scan = LaserScan() scan.header.frame_id = 'laser' scan.header.stamp = get_most_recent_timestamp(rf, sg) scan.angle_min = angle_min scan.angle_max = angle_max scan.angle_increment = angle_increment scan.scan_time = time.time() - last_scan_time scan.time_increment = scan.scan_time / 541 scan.range_min = rf.range_min scan.range_max = rf.range_max scan.ranges = rf.ranges for i in range(180 * 2): if sg.ranges[i] < scan.ranges[90 + i] or scan.ranges[90 + i] == 0: scan.ranges[90 + i] = sg.ranges[i] return scan
def prepare_laserscan_msg(self): ''' Fill laser scan message ''' laser_scan_msg = LaserScan() #Step 1: num_readings = 100 laser_frequency = 40 ranges = [] intensities = [] count = 0 i = 0 #generate some fake data for laser scan while (i < num_readings): ranges.append(count) intensities.append(4 + count) i = i + 1 #Step 2 now = rospy.get_rostime() laser_scan_msg.header.stamp = now laser_scan_msg.header.frame_id = "laser_frame" laser_scan_msg.angle_min = -1.57 laser_scan_msg.angle_max = 1.57 laser_scan_msg.angle_increment = 3.14 / num_readings laser_scan_msg.time_increment = (1 / laser_frequency) / (num_readings) laser_scan_msg.range_min = 0.0 laser_scan_msg.range_max = 4.0 laser_scan_msg.ranges = ranges laser_scan_msg.intensities = intensities
def handle_scanner_msg(self, args): # Broadcast scanner transform first time_now = rospy.Time.now() pos = self.laser_tf.transform.translation rot = self.laser_tf.transform.rotation self.tf_broadcaster.sendTransform((pos.x, pos.y, pos.z), (rot.x, rot.y, rot.z, rot.w), time_now, self.laser_tf.child_frame_id, self.laser_tf.header.frame_id) scan = LaserScan() scan.header.stamp = time_now scan.header.frame_id = self.base_laser_frame for (name, par) in args.items(): if name == 'Range': scan.ranges = [float(s) for s in par.split(',')] if name == 'FOV': fov = float(par) scan.angle_min = -fov/2.0 scan.angle_max = fov/2.0 if name == 'Resolution': scan.angle_increment = float(par) scan.range_min = 0.0 scan.range_max = 20.0 self.scan_pub.publish(scan)
def handleScanner(self): scan = LaserScan() scan.header.stamp = self.current_time self.ser.write("0") line = self.ser.readline() if len(line) <= 3: return direction = line[0:2] if direction == '+:': self.direction = 1.0 elif direction == '-:': self.direction = -1.0 else: return rospy.logdebug(line) scan.header.frame_id = 'laser_frame' scan.angle_min = -1.57 * self.direction scan.angle_max = 1.57 * self.direction scan.angle_increment = 3.14 / self.num_readings * self.direction scan.time_increment = 0.003012 * self.num_readings scan.range_min = 0.02 # [m] scan.range_max = 4.00 # [m] scan.ranges = map(lambda n: 1.0 * int(n) / 1000, line[2:].split(',')) self.scan_pub.publish(scan)
def _processLaserscan(self, readingType, remappedTimestamp, content): # FIXME: For type ROBOTLASER, we should publish the robot/sensor pose using TF and use the correct TF frame laserscan = LaserScan() laserscan.header = Header(stamp=remappedTimestamp, frame_id="odom", seq=self._laserscanCounter) if readingType.startswith("RAWLASER") or readingType.startswith("ROBOTLASER"): laserscan.angle_min = float(content[1]) laserscan.angle_max = laserscan.angle_min + float(content[2]) laserscan.angle_increment = float(content[3]) laserscan.time_increment = 0 laserscan.scan_time = 0.0 # FIXME laserscan.range_min = 0 laserscan.range_max = float(content[4]) numRanges = int(content[7]) for i in xrange(0, numRanges): laserscan.ranges.append( float(content[8 + i]) ) numRemissions = int(content[8 + numRanges]) for i in xrange(0, numRemissions): laserscan.intensities.append( float(content[9 + numRanges + i]) ) else: rospy.logwarn("Unsupported laser of type %s in line %d" % (readingType, self._lineCounter) ) publisher = self._laserscanPublishers[ self._getLaserID(readingType, content) ] publisher.publish(laserscan) self._laserscanCounter += 1
def getLaserScan(frame_id, laser_scan_line): # Timestamp [seconds.microseconds] # # of ranges [unitless] # Angular offset [1/4 degree] # R1..R181 Ranges (zero padded to 181 ranges) [m] # # 1235603336.30835, 181, 0, 11.360, 11.360, 11.390, 11.410, 81.910, 81.910, 11.380, 11.400, 11.430, 6.450, 6.170, 6.030, 5.880, 5.740, 5.600, 5.470, 5.360, 5.370, 5.390, 5.430, 5.470, 5.500, 5.530, 5.580, 5.610, 5.410, 5.230, 5.130, 5.180, 5.230, 5.280, 5.350, 6.040, 6.110, 6.180, 6.250, 6.330, 6.400, 6.490, 5.950, 5.750, 5.640, 5.520, 5.440, 5.330, 5.220, 5.280, 5.040, 5.490, 5.590, 5.690, 5.810, 5.930, 6.080, 6.210, 6.360, 6.530, 6.690, 6.870, 13.930, 13.770, 13.650, 13.650, 13.530, 13.430, 13.300, 13.190, 13.040, 12.870, 12.780, 12.700, 12.630, 12.550, 12.480, 12.410, 12.360, 12.310, 12.240, 12.200, 12.150, 12.110, 12.070, 12.040, 12.010, 11.990, 11.970, 11.560, 11.930, 11.920, 11.920, 11.910, 11.930, 11.920, 11.920, 11.940, 11.930, 12.830, 12.840, 12.300, 12.130, 12.120, 13.000, 12.250, 12.230, 12.270, 12.330, 12.390, 12.440, 12.520, 12.580, 12.810, 13.640, 13.740, 13.830, 13.940, 13.640, 6.410, 6.220, 6.010, 5.810, 5.640, 5.080, 4.180, 4.090, 4.250, 4.070, 4.050, 3.700, 3.560, 3.510, 3.510, 3.570, 3.430, 3.520, 3.590, 4.940, 4.650, 4.630, 5.050, 5.040, 5.080, 4.890, 2.790, 2.710, 2.660, 2.620, 2.590, 2.600, 2.660, 2.650, 2.630, 2.690, 2.790, 2.900, 4.250, 4.150, 2.510, 2.480, 2.390, 2.360, 2.330, 2.320, 2.300, 2.410, 2.270, 3.930, 2.290, 2.390, 3.850, 3.830, 3.830, 3.710, 4.060, 4.050, 4.040, 4.030, 4.020, 4.010, 4.010, 4.010, 4.010 str_timestamp, str_num_readings, str_angular_offset, str_ranges = laser_scan_line.split(', ', 3) num_readings = int(str_num_readings) angular_offset = float(str_angular_offset) ranges = map(float, str_ranges.split(', ')) #convert array of readings laser_frequency = 50 angle_range_rad = 180 * np.pi / 180 #populate the LaserScan message msg = LaserScan() msg.header.stamp = rospy.Time.now() msg.header.frame_id = frame_id msg.angle_min = - (angle_range_rad / 2) msg.angle_max = (angle_range_rad / 2) msg.angle_increment = angle_range_rad / num_readings msg.time_increment = (1 / laser_frequency) / (num_readings) msg.range_min = 0.0 msg.range_max = 40.0 msg.ranges = ranges msg.intensities = [0.0] * len(ranges) return msg
def talker(): pub = rospy.Publisher('scan', LaserScan, queue_size=10) rospy.init_node('talker', anonymous=True) rate = rospy.Rate(10) # 10hz br = tf.TransformBroadcaster() sequence = 1 while not rospy.is_shutdown(): br.sendTransform((0.1, 0.1, 0), tf.transformations.quaternion_from_euler(0, 0, 0), rospy.Time.now(), 'base_laser', 'base_link') br.sendTransform( (sequence * 0.01, sequence * 0.01, 0), tf.transformations.quaternion_from_euler(0, 0, sequence * 0.01), rospy.Time.now(), 'base_link', 'odom') scan = LaserScan() scan.header.seq = sequence scan.header.stamp = rospy.get_rostime() scan.header.frame_id = 'base_laser' scan.angle_min = -0.1 scan.angle_max = 0.1 scan.angle_increment = 0.1 scan.range_max = 5.0 scan.ranges = [4.0, 4.0, 4.0] scan.intensities = [0.1, 0.1, 0.1] rospy.logdebug(scan) pub.publish(scan) sequence += 1 rate.sleep()
def fillUpOldLaserMessage(words): laser_msg = LaserScan() laser_msg.header.frame_id = "base_link" ranges = [] num_range_readings = int(words[1]) last_range_reading = num_range_readings + 1 for word in words[2:last_range_reading + 1]: ranges.append(float(word)) ang_range = float(180) # Get angular resolution ang_res = (radians(ang_range) / (num_range_readings - 0.0)) # Get max reading max_reading = 20. # init laser msg ang_min = radians(-ang_range / 2.) ang_max = radians(+ang_range / 2.) - ang_res laser_msg.angle_min = ang_min laser_msg.angle_max = ang_max laser_msg.angle_increment = ang_res laser_msg.range_min = 0 laser_msg.range_max = max_reading laser_msg.ranges = ranges laser_msg.header.stamp = rospy.Time(float(words[last_range_reading + 7])) return laser_msg
def create_lidar_msg(lidar_string): lidar_msg = LaserScan() data = lidar_string.split(";") #num_readings = 1440 -------------------------------- #data[0] = min angle (degrees) #data[1] = max angle (degrees) #data[2] = timestep (ms) #data[3] = lidar scan array #data[4] = min range #data[5] = max range #print data lidar_msg.header = create_header() #self? lidar_msg.angle_min = math.radians(float(data[0])) lidar_msg.angle_max = math.radians(float(data[1])) lidar_msg.angle_increment = math.radians(.25) #get from lidar lidar_msg.time_increment = float(25. / self.num_readings) #time in ms / measurements YOYOYOYO CHECK THIS lidar_msg.scan_time = float(data[2]) lidar_msg.range_min = float(data[4]) / 1000 #sent in mm, should be meters lidar_msg.range_max = float(data[5]) / 1000 #sent in mm, should be meters array_string = data[3].translate(None, '[]') string_array = array_string.split(",") lidar_msg.ranges = [float(r) / 1000 for r in string_array] #better way? # string_array = data[3].strip("[").strip("]").split(",") # string_array = data[3].split(",") # try: # lidar_msg.ranges = [float(r) for r in string_array] # lidar_msg.intensities = [] # except ValueError: # print "range vals failed" return lidar_msg
def merge_scans(rf, sg): rf.ranges = list(rf.ranges) for i in range(40): rf.ranges[len(rf.ranges)-i-1] = 0 if not sg: rf.header.frame_id = 'laser' return rf else: global angle_min global angle_max global angle_increment global last_scan_time if not last_scan_time: last_scan_time = time.time() scan = LaserScan() scan.header.frame_id = 'laser' scan.header.stamp = get_most_recent_timestamp(rf, sg) scan.angle_min = angle_min scan.angle_max = angle_max scan.angle_increment = angle_increment scan.scan_time = time.time() - last_scan_time scan.time_increment = scan.scan_time / 541 scan.range_min = rf.range_min scan.range_max = rf.range_max scan.ranges = rf.ranges for i in range(180*2): if sg.ranges[i] < scan.ranges[90 + i] or scan.ranges[90 + i] == 0: scan.ranges[90 + i] = sg.ranges[i] return scan
def tfmini_laserscan_publisher(frame_id): scan_pup = rospy.Publisher('tfmini_laser', LaserScan, queue_size=0) scan = LaserScan() #-- Convention: counter clockwise is positive (left positive, right negative) tfminiscanner = TfminiServoScanner(SERVO_GPIO, SRV_ANGLE_MIN, SRV_ANGLE_MAX, SRV_DUTY_ANGLE_MIN, SRV_DUTY_ANGLE_MAX, LASER_ANGLE_SAMPLES, SRV_TIME_MIN_MAX) #-- Initialize the message scan.header.frame_id = frame_id scan.range_min = tfminiscanner.laser.distance_min * 0.01 scan.range_max = tfminiscanner.laser.distance_max * 0.01 tfminiscanner.reset_servo() time.sleep(1) counter = 0 while not rospy.is_shutdown(): ini_angle, end_angle, time_increment, angle_increment, ranges = tfminiscanner.scan( scale_factor=0.01, reset=True) scan.angle_min = ini_angle scan.angle_max = end_angle scan.angle_increment = angle_increment scan.time_increment = time_increment scan.ranges = ranges scan_pup.publish(scan)
def create_lidar_msg(L): raw_lidar = L.data stripped_lidar = raw_lidar.translate(None, '[]').translate(None, '"').translate( None, '\'') array_lidar = stripped_lidar.split(",") num_readings = 1440 scan = LaserScan() scan.header.stamp = rospy.Time.now() scan.header.frame_id = "base_scan" scan.angle_min = math.radians(float(array_lidar[0])) scan.angle_max = math.radians(float(array_lidar[1])) scan.angle_increment = math.radians(.25) #get from lidar scan.time_increment = float(25. / num_readings) #time in ms / measurements scan.scan_time = float(array_lidar[2]) scan.range_min = float(array_lidar[4]) / 1000 #sent in mm, needs m scan.range_max = float(array_lidar[5]) / 1000 #sent in mm, needs m # string_array = array_lidar[3].strip("[").strip("]").split(",") array_string = array_lidar[3].translate(None, '[]') string_array = array_string.split(",") scan.ranges = [float(r) / 1000 for r in string_array] #better way? scanPub.publish(scan)
def _processLaserscan(self, readingType, remappedTimestamp, content): # FIXME: For type ROBOTLASER, we should publish the robot/sensor pose using TF and use the correct TF frame laserscan = LaserScan() laserscan.header = Header(stamp=remappedTimestamp, frame_id="odom", seq=self._laserscanCounter) if readingType.startswith("RAWLASER") or readingType.startswith("ROBOTLASER"): laserscan.angle_min = float(content[1]) laserscan.angle_max = laserscan.angle_min + float(content[2]) laserscan.angle_increment = float(content[3]) laserscan.time_increment = 0 laserscan.scan_time = 0.0 # FIXME laserscan.range_min = 0 laserscan.range_max = float(content[4]) numRanges = int(content[7]) for i in xrange(0, numRanges): laserscan.ranges.append( float(content[8 + i]) ) numRemissions = int(content[8 + numRanges]) for i in xrange(0, numRemissions): laserscan.intensities.append( float(content[9 + numRanges + i]) ) else: rospy.logwarn("Unsupported laser of type %s in line %d" % (readingType, self._lineCounter) ) publisher = self._laserscanPublishers[ self._getLaserID(readingType, content) ] publisher.publish(laserscan) self._laserscanCounter += 1 if (self.publishTracks): self._currentLaserMsgs[self._getLaserID(readingType, content)] = laserscan
def create_lidar_msg(self, L): raw_lidar = L.data #stripped_lidar = raw_lidar.translate(None, '[]').translate(None, '"').translate(None, '\'') array_lidar = raw_lidar.split(";") lidar_msg = LaserScan() lidar_msg.header = self.create_header() #self? lidar_msg.angle_min = math.radians(float(array_lidar[0])) lidar_msg.angle_max = math.radians(float(array_lidar[1])) lidar_msg.angle_increment = math.radians(0.25) #MAKE PARAM lidar_msg.time_increment = 0.025 / ( 270 * 4) #time in ms / measurements YOYOYOYO CHECK THIS lidar_msg.scan_time = float(array_lidar[2]) / 1000 #time in ms lidar_msg.range_min = float( array_lidar[4]) / 1000 #sent in mm, should be meters lidar_msg.range_max = float( array_lidar[5]) / 1000 #sent in mm, should be meters array_string = array_lidar[3] #.translate(None, '[]') string_array = array_string.split(",") lidar_msg.ranges = [float(r) / 1000 for r in string_array] #better way? self.scanPub.publish(lidar_msg)
def read(pub): if (ser.in_waiting >= 9): a = rospy.Time.now() # print("read") Dist_Total = -1 if ((b'Y' == ser.read()) and (b'Y' == ser.read())): Dist_L = ser.read() Dist_H = ser.read() Strength_L = ser.read() Strength_H = ser.read() Strength = ord(Strength_L) + 256 * ord(Strength_H) Mode = ser.read() tmp = ser.read() CheckSum = ser.read() Dist_Total = (ord(Dist_H) * 256) + (ord(Dist_L)) scan = LaserScan() # print(rospy.Time.now(),Dist_Total) scan.header.stamp = a scan.header.frame_id = 'laser_frame' scan.angle_min = 0. scan.angle_max = 0. scan.angle_increment = 0 scan.time_increment = 0 scan.range_min = 30. scan.range_max = 1200. scan.ranges = [] scan.intensities = [] scan.ranges.append(Dist_Total) scan.intensities.append(Strength) pub.publish(scan)
def checker(fake_laser_param, realtime_lasers, nonrealtime_lasers): r = rospy.Rate(RATE) seq = 0 laser_scan = LaserScan() laser_scan.header.seq = seq laser_scan.header.frame_id = fake_laser_param['frame_name'] laser_scan.angle_min = fake_laser_param['angle_min'] laser_scan.angle_max = fake_laser_param['angle_max'] laser_scan.angle_increment = fake_laser_param['angle_increment'] laser_scan.range_min = fake_laser_param['range_min'] laser_scan.range_max = fake_laser_param['range_max'] laser_scan.scan_time = 0 laser_scan.time_increment = 0 pub = rospy.Publisher('/scan', LaserScan, queue_size=10) while not rospy.is_shutdown(): fake_laser_data = realtime_lasers[0].get_range_data() for laser_scanner in realtime_lasers[1:]: new_laser_data = laser_scanner.get_range_data() fake_laser_data = [min(r1, r2) for r1, r2 in zip(fake_laser_data, new_laser_data)] for laser_scanner in nonrealtime_lasers: laser_data = laser_scanner.get_range_data() #fake_laser_data = [r1 if r1 < 1000 else min(r1, r2) for r1, r2 in zip(fake_laser_data, laser_data)] fake_laser_data = [min(r1, r2) for r1, r2 in zip(fake_laser_data, laser_data)] laser_scan.ranges = fake_laser_data laser_scan.header.stamp = rospy.Time.now() pub.publish(laser_scan) seq += 1 r.sleep()
def spin(self): encoders = [0,0] self.x = 0 # position in xy plane self.y = 0 self.th = 0 then = rospy.Time.now() # things that don't ever change scan_link = rospy.get_param('~frame_id','neato_link') scan = LaserScan(header=rospy.Header(frame_id=scan_link)) scan.angle_min = 0 scan.angle_max = 6.26 scan.angle_increment = 0.017437326 scan.range_min = 0.020 scan.range_max = 5.0 # The LiDAR spins counterclockwise at 10 revolutions per second. # Each revolution yields 90 packets. # Each packet contains 22 bytes. # Within these 22 bytes are 4 distance measurements and more # (4 data points/packet * 90 packets = 360 data points). # So there is one data measurement per degree turn. # Byte 01, "FA" is a starting byte which appears between the ending # and beginning of two packets. # Byte 02 is a hex value from A0-F9, representing the 90 packets # outputted per revolution. # Byte 03 and 04 are a 16bit (combined) value representing the speed # at which the LiDAR is rotating. # Bytes 06 and 05 are 1st distance measurement in this packet. # Bytes 10 and 09 are 2nd distance measurement in this packet. # Bytes 14 and 13 are 3rd distance measurement in this packet. # Bytes 18 and 17 are the 4th distance measurement in this packet. # Bytes 08:07, 12:11, 16:15, and 20:19 represent information about # the surface off of which the laser has bounced to be detected by # the LiDAR. # Bytes 22 and 21 are checksum and are used for determining the # validity of the received packet. # main loop of driver # r = rospy.Rate(10) rospy.loginfo("0") # requestScan() data = [] i = 0 while not rospy.is_shutdown(): # string = self.port.readline() byte = self.port.read() b = ord(byte) data.append(b) i = i +1 if i > 1000: for j in range(0,999): rospy.loginfo("%d", j); rospy.loginfo(": {:02X}".format(data[j])); i = 0 data = []
def co_callback(coa): # coa = CastObstacleArray scan = LaserScan() scan.header.frame_id = '/base_link' scan.angle_min = 0 n = len(co_msg.obstacles) scan.angle_min = coa.obstacles[0].theta scan.angle_max = coa.obstacles[n-1].theta scan.angle_increment = coa.obstacles[1].theta - coa.obstacles[0].theta for obs in coa.obstacles: distance = rho2range(obs.rho) scan.ranges.append(distance) scan.range_min = min(scan.range_min, distance) scan.range_max = max(scan.range_min, distance) scan_publisher.publish(scan)
def sonarsCallback(self, event): sonars = self.rh.sensors.getSonarsMeasurements()['sonars'] laser_msg = LaserScan() laser_msg.ranges.append(sonars['front_right']) laser_msg.ranges.append(sonars['front_left']) laser_msg.range_max = 1.00 laser_msg.angle_increment = 0.785398185253 laser_msg.angle_min = -0.392699092627 self.pub.publish(laser_msg)
def createLaserMessage(self, frameID, keyPrefix, scanNum): laserScanMsg = LaserScan() laserScanMsg.header.frame_id = frameID laserScanMsg.angle_min = self.PEPPER_LASER_MIN_ANGLE laserScanMsg.angle_max = self.PEPPER_LASER_MAX_ANGLE laserScanMsg.angle_increment = self.PEPPER_LASER_FOV/scanNum laserScanMsg.range_min = self.PEPPER_LASER_MIN_RANGE laserScanMsg.range_max = self.PEPPER_LASER_MAX_RANGE return laserScanMsg
def update(self): ############################################################################# now = rospy.Time.now() if now > self.t_next: elapsed = now - self.then self.then = now elapsed = elapsed.to_sec() # this approximation works (in radians) for small angles th = self.th - self.th_pre self.dr = th / elapsed # publish the odom information quaternion = Quaternion() quaternion.x = self.qx quaternion.y = self.qy quaternion.z = self.qz quaternion.w = self.qw self.odomBroadcaster.sendTransform( (self.x, self.y, 0), (0, 0, quaternion.z, quaternion.w), rospy.Time.now(), self.base_frame_id, self.odom_frame_id, ) self.laserBroadcaster.sendTransform( (0, 0, 0), (0, 0, 0, 1), rospy.Time.now(), self.laser_frame_id, self.base_frame_id ) odom = Odometry() odom.header.stamp = now odom.header.frame_id = self.odom_frame_id odom.pose.pose.position.x = self.x odom.pose.pose.position.y = self.y odom.pose.pose.position.z = 0 odom.pose.pose.orientation = quaternion odom.child_frame_id = self.base_frame_id odom.twist.twist.linear.x = self.dx odom.twist.twist.linear.y = 0 odom.twist.twist.angular.z = self.dr self.odomPub.publish(odom) laser = LaserScan() laser.header.stamp = now laser.header.frame_id = self.laser_frame_id laser.angle_min = self.laser.angle_min laser.angle_max = self.laser.angle_max laser.angle_increment = self.laser.angle_increment laser.time_increment = self.laser.time_increment laser.scan_time = self.laser.scan_time laser.range_min = self.laser.range_min laser.range_max = self.laser.range_max laser.ranges = self.laser.ranges laser.intensities = self.laser.intensities self.laserPub.publish(laser)
def publish_scan(self, angles, ranges): ls = LaserScan() ls.header = Utils.make_header("laser", stamp=self.last_stamp) ls.angle_min = np.min(angles) ls.angle_max = np.max(angles) ls.angle_increment = np.abs(angles[0] - angles[1]) ls.range_min = 0 ls.range_max = np.max(ranges) ls.ranges = ranges self.pub_fake_scan.publish(ls)
def publish_laser_msg(self, ranges): msg = LaserScan() msg.angle_min = self.robot.laser.min_angle msg.angle_max = self.robot.laser.max_angle msg.angle_increment = self.robot.laser.resolution msg.range_min = 0.0 msg.range_max = self.robot.laser.range msg.ranges = ranges msg.header.stamp = rospy.Time.now() self.laser_publisher.publish(msg)
def make_wallscan(self, data): num_readings = len(data) wall_scan = LaserScan() wall_scan.header.frame_id = "base_laser_link" wall_scan.ranges = data wall_scan.angle_min = -3.14; wall_scan.angle_max = 3.14; wall_scan.angle_increment = (3.14*2) / num_readings; wall_scan.range_min = 0.0; wall_scan.range_max = 5; return wall_scan
def build_laser_scan(self, ranges): result = LaserScan() result.header.stamp = rospy.Time.now() result.angle_min = -almath.PI result.angle_max = almath.PI if len(ranges[1]) > 0: result.angle_increment = (result.angle_max - result.angle_min) / len(ranges[1]) result.range_min = 0.0 result.range_max = ranges[0] for range_it in ranges[1]: result.ranges.append(range_it[1]) return result
def create_laser_msg(range_data_array): ls = LaserScan() ls.angle_increment = 0.006283185307179586 # 0.36 deg ls.angle_max = 2.0943951023931953 # 120.0 deg ls.angle_min = -2.0943951023931953 # -120.0 deg ls.range_max = 4.0 ls.range_min = 0.02 ls.scan_time = 0.001 # No idea ls.time_increment = 1.73611115315e-05 # No idea, took from http://comments.gmane.org/gmane.science.robotics.ros.user/5192 ls.header = Header() ls.header.frame_id = 'laser_link' ls.ranges = range_data_array return ls
def inputCallback(self, msg): ######################################################################### # rospy.loginfo("-D- range_filter inputCallback") cur_val = msg.value if cur_val <= self.max_valid and cur_val >= self.min_valid: self.prev.append(cur_val) del self.prev[0] p = array(self.prev) self.rolling_ave = p.mean() self.rolling_std = p.std() self.rolling_meters = ((self.b * self.rolling_ave) ** self.m) / 100 self.filtered_pub.publish( self.rolling_meters ) self.std_pub.publish( self.rolling_std ) rng = Range() rng.radiation_type = 1 rng.min_range = self.min_range rng.max_range = self.max_range rng.range = self.rolling_meters rng.header.frame_id = self.frame rng.field_of_view = 0.1 rng.header.stamp = rospy.Time.now() self.range_pub.publish( rng ) ranges = [] intensities = [] angle_start = 0.0 - self.field_of_view angle_stop = self.field_of_view for angle in linspace( angle_start, angle_stop, 10): ranges.append( self.rolling_meters ) intensities.append( 1.0 ) scan = LaserScan() scan.ranges = ranges scan.header.frame_id = self.frame scan.time_increment = 0; scan.range_min = self.min_range scan.range_max = self.max_range scan.angle_min = angle_start scan.angle_max = angle_stop scan.angle_increment = (angle_stop - angle_start) / 10 scan.intensities = intensities scan.scan_time = self.scan_time scan.header.stamp = rospy.Time.now() self.scan_pub.publish( scan )
def publishLaserScan(self,data=None): scan = LaserScan() scan.header.seq = 1 scan.header.stamp = rospy.Time.now() num_readings = 100 laser_frequency = 40 scan.header.frame_id = "base_laser" scan.angle_min = radians(-30) scan.angle_max = radians(30) scan.angle_increment = radians(60) / num_readings scan.time_increment = (1 / laser_frequency) / (num_readings) scan.range_min = 0.5 scan.range_max = 6 scan.ranges = [5]*num_readings self.laserScanPublisher.publish(scan)
def handle_laser_scan(laserMsg,currTime): scan = LaserScan() scan.header.stamp = currTime scan.header.frame_id = "base_link" scan.angle_min = -1.57 scan.angle_max = 1.57 scan.angle_increment = 3.14/181 scan.time_increment = (1/0.5)/181 scan.range_min = 0.0 scan.range_max = 10.0 scan.ranges = [0.0 for i in xrange(len(laserMsg)-1)] scan.intensities = [0.0 for i in xrange(len(laserMsg)-1)] for i in xrange(len(laserMsg)-1): scan.ranges[i] =laserMsg[i] scan.intensities[i]= 100 laserPub = rospy.Publisher('scan',LaserScan,queue_size = 1) laserPub.publish(scan) rospy.sleep(4.0)
def publishZoneScores(self,data, prh_resolution): """ Publishes the zone scores """ pc = LaserScan() pc.header.frame_id = "/base_link" pc.header.stamp = rospy.get_rostime() pc.angle_min = -np.pi pc.angle_max = np.pi pc.angle_increment = prh_resolution pc.range_min = 0.00 pc.range_max = 5.0 for r in data: pc.ranges.append(r) self.zone_score_pub.publish(pc)
def publishPolarHistogram(self): """ Publishes the polar histogram """ pc = LaserScan() pc.header.frame_id = "/base_link" pc.header.stamp = rospy.get_rostime() pc.angle_min = -np.pi pc.angle_max = np.pi pc.angle_increment = self.prh_resolution pc.range_min = 0.00 pc.range_max = 5.0 self.polar_range_hist_lock.acquire() for r in self.polar_range_hist: pc.ranges.append(r) self.polar_range_hist_lock.release() self.polar_hist_pub.publish(pc)
def __init__(self): rospy.init_node('fake_laser') # parameters self.rate = rospy.get_param("~rate", 1.0) self.frame_id = rospy.get_param("~frame", "base_laser") self.range_min = rospy.get_param("~range_min", 0.2) self.range_max = rospy.get_param("~range_max", 5.5) self.angle_min = rospy.get_param("~angle_min", -1.57) self.angle_max = rospy.get_param("~angle_max", 1.57) self.num_readings = rospy.get_param("~num_readings", 100) self.fixed_reading = rospy.get_param("~fixed_reading", 2.0) self.scan_time = rospy.get_param("~scan_time", 0.1) self.angle_increment = (self.angle_max - self.angle_min) / self.num_readings self.time_increment = self.scan_time / (self.num_readings) self.scanPub = rospy.Publisher('scan', LaserScan) rospy.loginfo("Started fake laser node publishing to /scan topic.") r = rospy.Rate(self.rate) while not rospy.is_shutdown(): ranges = list() # Generate the fake data. for i in range(self.num_readings): ranges.append(self.fixed_reading * sin(i) * random.uniform(0, 1)) scan = LaserScan() scan.header.stamp = rospy.Time.now() scan.header.frame_id = self.frame_id scan.angle_min = self.angle_min scan.angle_max = self.angle_max scan.angle_increment = self.angle_increment scan.time_increment = self.time_increment scan.range_min = self.range_min scan.range_max = self.range_max scan.ranges = ranges self.scanPub.publish(scan) r.sleep()
def build_constant_scan( range_val, intensity_val, angle_min, angle_max, angle_increment, scan_time): count = np.uint(np.ceil((angle_max - angle_min) / angle_increment)) if count < 0: raise BuildScanException scan = LaserScan() scan.header.stamp = rospy.rostime.Time.from_sec(10.10) scan.header.frame_id = "laser_frame" scan.angle_min = angle_min scan.angle_max = angle_max scan.angle_increment = angle_increment scan.scan_time = scan_time.to_sec() scan.range_min = PROJECTION_TEST_RANGE_MIN scan.range_max = PROJECTION_TEST_RANGE_MAX scan.ranges = [range_val for _ in range(count)] scan.intensities = [intensity_val for _ in range(count)] scan.time_increment = scan_time.to_sec()/count return scan
def imu_serial(): pub = rospy.Publisher('laser_scan', LaserScan) rospy.init_node('imu_serial') laser_msg = LaserScan() laser_msg.header.frame_id = 'laser' laser_msg.angle_min = -1.5 laser_msg.angle_max = 1.5 laser_msg.angle_increment = 0.1 laser_msg.time_increment = 0.1 laser_msg.scan_time = 0.1 laser_msg.range_min = 0.5 laser_msg.range_max = 1.5 laser_msg.ranges = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 9.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.1, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 5.0, 1.0] laser_msg.intensities = laser_msg.ranges r = rospy.Rate(100) # 10hz while not rospy.is_shutdown(): laser_msg.header.stamp = rospy.get_rostime() pub.publish(laser_msg) r.sleep()
def _msg(self, ranges, intensities, scan_time): new_time = Time.now() delta_time = new_time - self._last_time self._last_time = new_time msg = LaserScan() msg.header.frame_id = self._frame_id msg.header.stamp = Time.now() msg.angle_max = self.__MAX_ANGLE msg.angle_min = self.__MIN_ANGLE msg.angle_increment = self.__ANGLE_INCREMENT # Note: time_increment is the time between measurements, i.e. how often we read the scan and publish it (in # seconds) msg.time_increment = 0.1 #delta_time.secs # Note: scan_time is the time between scans of the laser, i.e., the time it takes to read 360 degrees. msg.scan_time = 0.1 # scan_time msg.range_min = float(self._min_range) msg.range_max = float(self._max_range) msg.ranges = [min(max(range, msg.range_min), msg.range_max) for range in ranges] msg.intensities = intensities return msg
def publish_laser_data(self, publisher): scan = LaserScan() scan.header.stamp = rospy.Time.now() scan.header.frame_id = "base_laser_link" scan.angle_min = -30 * math.pi / 180 scan.angle_max = 30 * math.pi / 180 scan.angle_increment = 1 * math.pi / 180 scan.range_min = 0.03 scan.range_max = 3.00 scan.ranges = [] # read the ranges from left to right for i in range(0,15): scan.ranges.append(self.ranges["ultrasonic_3"]) for i in range(15,30): scan.ranges.append(self.ranges["ultrasonic_1"]) for i in range(30,45): scan.ranges.append(self.ranges["ultrasonic_2"]) for i in range(45,60): scan.ranges.append(self.ranges["ultrasonic_4"]) publisher.publish(scan) # clear out the scans self.resetRanges()
def create_lidar_msg(self, L): raw_lidar = L.data #stripped_lidar = raw_lidar.translate(None, '[]').translate(None, '"').translate(None, '\'') array_lidar = raw_lidar.split(";") lidar_msg = LaserScan() lidar_msg.header = self.create_header() #self? lidar_msg.angle_min = math.radians(float(array_lidar[0])) lidar_msg.angle_max = math.radians(float(array_lidar[1])) lidar_msg.angle_increment = math.radians(0.25) #MAKE PARAM lidar_msg.time_increment = 0.025/(270*4) #time in ms / measurements YOYOYOYO CHECK THIS lidar_msg.scan_time = float(array_lidar[2]) / 1000 #time in ms lidar_msg.range_min = float(array_lidar[4]) / 1000 #sent in mm, should be meters lidar_msg.range_max = float(array_lidar[5]) / 1000 #sent in mm, should be meters array_string = array_lidar[3] #.translate(None, '[]') string_array = array_string.split(",") lidar_msg.ranges = [float(r) / 1000 for r in string_array] #better way? self.scanPub.publish(lidar_msg)
def convert_array_to_laser_scan(self, vision_raw_scan): if vision_raw_scan.size < 100: return None header = Header() header.frame_id = "vision_scan" #header.stamp = time() laser_scan = LaserScan() laser_scan.angle_min = 0.0 laser_scan.angle_max = self.angle_max laser_scan.angle_increment = self.angle_increment laser_scan.range_min = 0.0 laser_scan.range_max = self.range_max #laser_scan.ranges = [0]*360 image_size = vision_raw_scan.shape if len(image_size) == 3: vision_raw_scan = cv2.cvtColor(vision_raw_scan, cv2.COLOR_BGR2GRAY) image_size = vision_raw_scan.shape if self.init is False: self._init_lines(image_size) self.init = True tasks = list() for line in range(self.number_lines): tasks.append((vision_raw_scan, self.lines[line])) laser_scan.ranges = self.pool.map(_getObstacle, tasks) #pool.close() laser_scan.header = header #laser_scan.scan_time = 1.0/5.0 #laser_scan.time_increment = 1.0/5.0 return laser_scan
def generate_laser_msg(self, laser_data): '''Generates a 'LaserScan' message from the input data. Keyword arguments: laser_data -- A 'LaserData' object. Returns: msg -- A 'LaserScan' message. ''' laser_scan_msg = LaserScan() laser_scan_msg.header.stamp = rospy.Time.now() laser_scan_msg.header.frame_id = laser_data.frame_id laser_scan_msg.angle_min = self.scanner_min_angle laser_scan_msg.angle_max = self.scanner_max_angle laser_scan_msg.angle_increment = self.scanner_angle_increment laser_scan_msg.time_increment = self.scanner_time_increment laser_scan_msg.range_min = self.scanner_min_range laser_scan_msg.range_max = self.scanner_max_range laser_scan_msg.ranges = self.calculate_ranges(laser_data) return laser_scan_msg