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)$")
self.update_rate = rospy.get_param("~update_rate", 1.0)
self.max_rate = rospy.get_param("~max_rate", 3.0)
self.last_inserted_time = defaultdict(rospy.Time)
self.load_params()
def __init__(self):
LoggerBase.__init__(self)
self.queue_size = rospy.get_param("~queue_size", 30)
self.action_regex = re.compile(".*Action(Result|Goal|Feedback)$")
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)