from rviz_view_controllers.msg import CameraPlacement
from geometry_msgs.msg import Point, Vector3
rospy.init_node("camera_test", anonymous = True)
pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement)
rate_float = 10
rate = rospy.Rate(rate_float)
rospy.Rate(2).sleep()
for i in range(3):
t = rospy.get_time()
cp = CameraPlacement()
cp.attached_frame = "r_forearm_cam_frame"
p = Point(0,0, 0)
cp.eye.point = p
cp.eye.header.frame_id = "r_forearm_cam_frame"
f = Point(1, 0, 0)
cp.focus.point = f
cp.focus.header.frame_id = "r_forearm_cam_frame"
up = Vector3(0,0,1)
cp.up.vector = up
cp.up.header.frame_id = "r_forearm_cam_frame"
from geometry_msgs.msg import Point, Vector3
rospy.init_node("camera_test", anonymous=True)
pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement)
rate_float = 0.25
rate = rospy.Rate(rate_float)
rospy.sleep(1)
while not rospy.is_shutdown():
# print "Top of loop!"
t = rospy.get_time()
cp = CameraPlacement()
r = 10
p = Point(r * cos(2 * pi * t / 20), r * sin(2 * pi * t / 20), 2)
# p = Point(5,5,0)
cp.eye.point = p
cp.eye.header.frame_id = "base_link"
# f = Point(0, 0, 2*cos(2*pi*t/5))
f = Point(0, 0, 0)
cp.focus.point = f
cp.focus.header.frame_id = "base_link"
up = Vector3(0, 0, 1)
cp.up.vector = up
cp.up.header.frame_id = "base_link"
from rviz_view_controllers.msg import CameraPlacement
from geometry_msgs.msg import Point, Vector3
rospy.init_node("camera_test", anonymous = True)
pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement)
rate_float = 10
rate = rospy.Rate(rate_float)
rospy.Rate(1).sleep()
for i in range(3):
t = rospy.get_time()
cp = CameraPlacement()
cp.attached_frame = "head_mount_kinect_rgb_link"
p = Point(0,0, 0)
cp.eye.point = p
cp.eye.header.frame_id = "head_mount_kinect_rgb_link"
f = Point(1, 0, 0)
cp.focus.point = f
cp.focus.header.frame_id = "head_mount_kinect_rgb_link"
up = Vector3(0,0,1)
cp.up.vector = up
cp.up.header.frame_id = "head_mount_kinect_rgb_link"
from rviz_view_controllers.msg import CameraPlacement
from geometry_msgs.msg import Point, Vector3
rospy.init_node("camera_test", anonymous = True)
pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement)
rate_float = 10
rate = rospy.Rate(rate_float)
rospy.Rate(2).sleep()
for i in range(3):
t = rospy.get_time()
cp = CameraPlacement()
cp.attached_frame = "base_link"
p = Point(2,2, 2)
cp.eye.point = p
cp.eye.header.frame_id = "base_link"
f = Point(1, 0, 0)
cp.focus.point = f
cp.focus.header.frame_id = "torso_lift_link"
up = Vector3(0,0,1)
cp.up.vector = up
cp.up.header.frame_id = "base_link"
from rviz_view_controllers.msg import CameraPlacement
from geometry_msgs.msg import Point, Vector3
rospy.init_node("camera_test", anonymous = True)
pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement)
rate_float = 10
rate = rospy.Rate(rate_float)
rospy.Rate(2).sleep()
for i in range(3):
t = rospy.get_time()
cp = CameraPlacement()
cp.attached_frame = "narrow_stereo_link"
p = Point(0,0, 0)
cp.eye.point = p
cp.eye.header.frame_id = "narrow_stereo_link"
f = Point(1, 0, 0)
cp.focus.point = f
cp.focus.header.frame_id = "narrow_stereo_link"
up = Vector3(0,0,1)
cp.up.vector = up
cp.up.header.frame_id = "narrow_stereo_link"
from rviz_view_controllers.msg import CameraPlacement
from geometry_msgs.msg import Point, Vector3
rospy.init_node("camera_test", anonymous = True)
pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement)
rate_float = 10
rate = rospy.Rate(rate_float)
rospy.Rate(2).sleep()
for i in range(2):
t = rospy.get_time()
cp = CameraPlacement()
cp.attached_frame = "head_pan_link"
p = Point(-3, -0.5, 1.3)
cp.eye.point = p
cp.eye.header.frame_id = "head_pan_link"
f = Point(0.6, -0.25, 0)
cp.focus.point = f
cp.focus.header.frame_id = "head_pan_link"
up = Vector3(0,0,1)
cp.up.vector = up
cp.up.header.frame_id = "base_link"
