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 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 callback(data):
n = int(rospy.get_param('~reduction', '2'))
pub=rospy.Publisher('/scan_reduced', LaserScan)
newScan=LaserScan()
newScan=data
newScan.angle_increment=n*data.angle_increment
newScan.ranges=data.ranges[1::n]
pub.publish(newScan)
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 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 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 _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 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 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 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 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 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 Cb(self, msg):
n_ranges = list()
pv = msg.data[0]
for i in range(50):
if pv>0.0 and msg.data[i]>0.0:
n_ranges.append((pv+msg.data[i])/2)
else:
n_ranges.append(0.0)
n_ranges.append(msg.data[i])
pv = msg.data[i]
laserMsg = LaserScan()
laserMsg.ranges = n_ranges
laserMsg.angle_increment = 0.2;
laserMsg.time_increment = 1/50
laserMsg.header.frame_id = '/ultra'
laserMsg.header.stamp = rospy.Time.now()
self.scanPub.publish(laserMsg)
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 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 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 default(self, ci='unused'):
laserscan = LaserScan()
laserscan.header = self.get_ros_header()
# Note: Scan time and laser frequency are chosen as standard values
laser_frequency = 40 # TODO ? component_instance.frequency()
scan_window = self.component_instance.bge_object['scan_window']
num_readings = scan_window / self.component_instance.bge_object['resolution']
laserscan.angle_max = scan_window * math.pi / 360
laserscan.angle_min = laserscan.angle_max * -1
laserscan.angle_increment = scan_window / num_readings * math.pi / 180
laserscan.time_increment = 1 / laser_frequency / num_readings
laserscan.scan_time = 1.0
laserscan.range_min = 0.3
laserscan.range_max = self.component_instance.bge_object['laser_range']
# ROS expect the ranges to be sorted clockwise.
# see morse.builder.sensor.LaserSensorWithArc.create_laser_arc
# where we create the ray from -window / 2.0 to +window / 2.0
laserscan.ranges = self.data['range_list']
self.publish(laserscan)
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 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 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 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 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 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 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 __init__(self):
self.bridge = cv_bridge.CvBridge()
cv2.namedWindow("window", 1)
# Initialise found variable flags
self.greenFound = False
self.blueFound = False
self.yellowFound = False
self.redFound = False
# intial global methods and variables
self.laser = LaserScan()
self.distance = [0]
self.objectFound = False
self.goalSeeking = True
self.inSearchMode = False
self.elapsedScanTime = time.time()
# Initialise global array which contains co-ordinates for all way-points
self.atPoint = False
self.goalPositions = [[2.01, -4.04],
[0.996, -1.05],
[-2.24, -1.57],
[-3.95, -1.04],
[-3.56, 2.93],
[-3.97, -1.57],
[-0.476, 0.804],
[-0.298, 3.93]]
## Arrays to hold values
self.lowerBoundColours = [[40, 200, 100], [100, 200, 100], [25, 200, 100], [0, 210, 100]]
self.upperBoundColours = [[60, 255, 255], [120, 255, 255], [30, 255, 255], [4, 255, 255]]
## For SIMULATION
self.infrared_camera = rospy.Subscriber('/turtlebot/scan', LaserScan, self.laserRange)
rospy.sleep(2)
self.image_sub = rospy.Subscriber('/turtlebot/camera/rgb/image_raw', Image, self.image_callback)
self.cmd_vel_pub = rospy.Publisher('/turtlebot/cmd_vel', Twist, queue_size=1)
# For Move_Base to set goals/waypoints throughout map
self.setGoal = rospy.Publisher('/turtlebot/move_base_simple/goal', PoseStamped, queue_size=1)
self.confirmGoal = rospy.Subscriber('/turtlebot/move_base/result', MoveBaseActionResult, self.goalCallback)
# Initialise Twist() method
self.twist = Twist()
# Sleep for 3 seconds
rospy.sleep(3)
def scanner():
rospy.init_node('fake_scan_publisher')
scan = LaserScan()
fp = rospy.get_param('/fpubt', 'fake_scan')
pub = rospy.Publisher(fp, LaserScan, queue_size=10)
scan.header.frame_id = "base_link"
scan.header.stamp = rospy.Time.now()
ra = rospy.get_param('/r')
rate = rospy.Rate(ra)
while not rospy.is_shutdown():
scan.angle_min = rospy.get_param('angle_min')
scan.angle_max = rospy.get_param('angle_max')
scan.angle_increment = rospy.get_param('angle_increment')
scan.scan_time = 0.05
scan.range_min = rospy.get_param('range_min')
scan.range_max = rospy.get_param('range_max')
scan.ranges = numpy.random.uniform(scan.range_min, scan.range_max, 400)
pub.publish(scan)
rospy.loginfo(scan)
rospy.sleep
def callback_get_sonar_scan(self, data):
#self.scanFiltered.sonar_range = data.range * 100
if (self.isWater == True):
# Construct LaserScan message
sonarScanMsg = LaserScan()
sonarScanMsg.header = data.header
sonarScanMsg.angle_min = -0.1
sonarScanMsg.angle_max = 0.1
sonarScanMsg.angle_increment = 0.1
sonarScanMsg.range_min = data.min_range
sonarScanMsg.range_max = data.max_range
sonarScanMsg.ranges = [
data.range, data.range, data.range
] # Easy fix because not able to make pointcloud with 1 point.
# Convert to PointCloud2
cloud_out = self.laserProj.projectLaser(sonarScanMsg)
# Publish PointCloud2
self.pcWaterPub.publish(cloud_out)
def __init__(self,
cmd_vel_topic="cmd_vel",
odom_topic="odom",
scan_topic="base_scan"):
self._pose_2d = Pose2D()
self._pose_stamped = PoseStamped()
self._laser_scan = LaserScan()
self._publishers = {}
self._publishers["cmd_vel"] = rospy.Publisher(cmd_vel_topic,
Twist,
queue_size=10)
rospy.Subscriber(scan_topic, LaserScan, self.__cb_laser_scan)
rospy.Subscriber(odom_topic, Odometry, self.__cb_odom)
def __init__(self):
self.mover = move_publisher()
# load map
path = __file__
pkg_path = path.split("/src/main.py")[0]
map_path = pkg_path + "/maps/map.npy"
self.map = np.load(map_path)
# get escape-route from A*-algorithm
a_star_obj = A_star(self.map)
a_star_obj.start_algorithm()
self.directions = a_star_obj.return_direction_list()
self.laser_data = LaserScan()
def publish_laser_scan(index):
laser_scan = LaserScan()
laser_scan.header.frame_id = 'world'
laser_scan.header.stamp = rospy.get_rostime()
laser_scan.angle_min = math.pi / 6
laser_scan.angle_max = (math.pi / 6) * 11
laser_scan.angle_increment = math.pi / 180
laser_scan.scan_time = 0.1
laser_scan.range_min = 0.1
laser_scan.range_max = 2
for i in range(
int((laser_scan.angle_max - laser_scan.angle_min) /
laser_scan.angle_increment)):
laser_scan.ranges.append(1.5 + abs(math.cos(i)))
laser_scan.intensities.append(5)
sensor_publisher[index].publish(laser_scan)
def __init__(self):
self.ns = rospy.get_param("~namespace", "/catvehicle")
rospy.init_node('Qlearner', anonymous=True)
rospy.Subscriber('{0}/front_laser_points'.format(self.ns), LaserScan,
self.callback)
self.pub_cmdvel = rospy.Publisher('{0}/cmd_vel'.format(self.ns),
Twist,
queue_size=50)
self.vel = 0
self.ang = 0
self.laserMsg = LaserScan()
self.xyz = [[] for i in range(3)]
def __init__(self):
rospy.init_node('No_TransRotation', anonymous=True)
rospy.Subscriber('/tb3_0/cmd_vel', Twist, self.update_vel)
rospy.Subscriber('/tb3_0/scan', LaserScan, self.update)
rospy.Subscriber('/tb3_0/odom', Odometry, self.update_pose)
self.vel_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
self.pose = Pose()
self.scan = LaserScan()
self.vel = Twist()
self.rate = rospy.Rate(10)
self.max_vel = 0.22
self.max_ang = 2.84
def __init__(self):
self.velocity_publisher = rospy.Publisher(
'turtle1/cmd_vel', Twist, queue_size=5)
self.odom_subscriber = rospy.Subscriber(
"/odom", Odometry, self.odeometry_callback, queue_size=5)
self.laser_subscriber = rospy.Subscriber(
"/scan", LaserScan, self.laser_callback, queue_size=5)
self.min_distance = 10
self.Flag_duck = False
self.Flag_turn_left = True
self.Flag_arrived_pos = False
self.alarm_level = "Green"
self.obs_place = "N/A"
self.turtlebot_odom = Odometry()
self.turtlebot_laser = LaserScan()
def __init__(self, map_frame, robot_frame):
self.map_frame = map_frame
self.robot_frame = robot_frame
self.pose_msg = PoseStamped()
self.mapinfo = OccupancyGrid()
self.laser_data = LaserScan()
self.tf_listener = TransformListener()
rospy.Subscriber('map', OccupancyGrid, self.map_callback)
rospy.Subscriber('pose', PoseStamped, self.pose_callback)
rospy.Subscriber('scan', LaserScan, self.laser_callback)
rospy.Service('api/rt_grid_laser', GridLaser,
self.handle_realtimelaser)
rospy.Service('api/grid_laser', GridLaser, self.handle_gridlaser)
def scan_1_callback(self, scan_msg):
scan_1 = scan_msg
scan_filtered_msg = LaserScan()
scan_filtered_msg.header = scan_1.header
scan_filtered_msg.angle_min = scan_1.angle_min
scan_filtered_msg.angle_max = scan_1.angle_max
scan_filtered_msg.angle_increment = scan_1.angle_increment
scan_filtered_msg.time_increment = scan_1.time_increment
scan_filtered_msg.scan_time = scan_1.scan_time
scan_filtered_msg.range_min = scan_1.range_min
scan_filtered_msg.range_max = scan_1.range_max
for i in range(0, len(scan_1.ranges)):
if np.isinf(scan_1.ranges[i]):
if np.isinf(self.scan_2.ranges[i]):
scan_filtered_msg.ranges.append(0)
else:
scan_filtered_msg.ranges.append(scan_1.range_max)
else:
scan_filtered_msg.ranges.append(scan_1.ranges[i])
self.scan_filtered_pub.publish(scan_filtered_msg)
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 publish(self, lidar, transforms):
"""Publish the laser scan topics with up to date value."""
nextTime = self.robot.getTime() + 0.001 * self.timestep
nextSec = int(nextTime)
# rounding prevents precision issues that can cause problems with ROS timers
nextNanosec = int(round(1000 * (nextTime - nextSec)) * 1.0e+6)
for i in range(lidar.getNumberOfLayers()):
name = self.prefix + lidar.getName() + '_scan'
if lidar.getNumberOfLayers() > 1:
name += '_' + str(i)
# publish the lidar to scan transform
transformStamped = TransformStamped()
transformStamped.header.stamp = Time(sec=nextSec, nanosec=nextNanosec)
transformStamped.header.frame_id = self.prefix + lidar.getName()
transformStamped.child_frame_id = name
q1 = transforms3d.quaternions.axangle2quat([0, 1, 0], -1.5708)
q2 = transforms3d.quaternions.axangle2quat([1, 0, 0], 1.5708)
result = transforms3d.quaternions.qmult(q1, q2)
if lidar.getNumberOfLayers() > 1:
angleStep = lidar.getVerticalFov() / (lidar.getNumberOfLayers() - 1)
angle = -0.5 * lidar.getVerticalFov() + i * angleStep
q3 = transforms3d.quaternions.axangle2quat([0, 0, 1], angle)
result = transforms3d.quaternions.qmult(result, q3)
transformStamped.transform.rotation.x = result[0]
transformStamped.transform.rotation.y = result[1]
transformStamped.transform.rotation.z = result[2]
transformStamped.transform.rotation.w = result[3]
transforms.append(transformStamped)
# publish the actual laser scan
msg = LaserScan()
msg.header.stamp = Time(sec=self.node.sec, nanosec=self.node.nanosec)
msg.header.frame_id = name
msg.angle_min = -0.5 * lidar.getFov()
msg.angle_max = 0.5 * lidar.getFov()
msg.angle_increment = lidar.getFov() / (lidar.getHorizontalResolution() - 1)
msg.scan_time = lidar.getSamplingPeriod() / 1000.0
msg.range_min = lidar.getMinRange()
msg.range_max = lidar.getMaxRange()
lidarValues = lidar.getLayerRangeImage(i)
for j in range(lidar.getHorizontalResolution()):
msg.ranges.append(lidarValues[j])
if lidar.getNumberOfLayers() > 1:
key = self.prefix + lidar.getName() + '_' + str(i)
self.publishers[lidar][key].publish(msg)
else:
self.publishers[lidar].publish(msg)
def scan_cb(self, msg):
self.scan_msg = LaserScan()
self.scan_msg.header = msg.header
self.scan_msg.angle_min = msg.angle_min
self.scan_msg.angle_max = msg.angle_max
self.scan_msg.angle_increment = msg.angle_increment
self.scan_msg.time_increment = msg.time_increment
self.scan_msg.scan_time = msg.scan_time
self.scan_msg.range_min = msg.range_min
self.scan_msg.range_max = msg.range_max
for element in msg.ranges:
if element == float('Inf'):
self.scan_msg.ranges.append(self.max_limit)
else:
self.scan_msg.ranges.append(element)
def callback(self,_data): _ls=LaserScan() _ls.header.frame_id="laser" _ls.angle_min=-3.14 _ls.angle_max=+3.14 _ls.angle_increment=6.28/360.0 _ls.time_increment=0.1 _ls.range_min=_data.range_min _ls.range_max=_data.range_max for i in range(0,len(_data.ranges)): _ls.ranges.append(2) for i in range(0, len(_data.intensities)): _ls.intensities.append(3) self.pub_laser.publish(_ls)
def __init__(self, bot_name):
# bot name
self.name = bot_name
# velocity publisher
self.vel_pub = rospy.Publisher('cmd_vel', Twist,queue_size=1)
# Lidar
self.scan = LaserScan()
self.lidar_sub = rospy.Subscriber('/blue_bot/scan', LaserScan, self.lidarCallback)
# usb camera
self.img = None
self.camera_preview = True
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber('/blue_bot/image_raw', Image, self.imageCallback)
def lidar_cb(data):
msg = LaserScan()
msg.header = data.header
msg.angle_min = data.angle_min
msg.angle_max = data.angle_max
msg.angle_increment = data.angle_increment
msg.scan_time = data.scan_time
msg.range_min = data.range_min
msg.range_max = data.range_max
current_angle = data.angle_min
i = 0
for range in data.ranges:
if ((i >= 30 and i <= 45) or (i >= 75 and i <= 90)
or (i >= 265 and i <= 280) or (i >= 305 and i <= 325)):
msg.ranges.append(0)
msg.intensities.append(0)
else:
msg.ranges.append(data.ranges[i])
msg.intensities.append(data.intensities[i])
i += 1
publisher.publish(msg)
def PrepareScan(sequence, frame_id):
scan = LaserScan()
scan.header.seq = sequence
scan.header.stamp = rospy.get_rostime()
scan.header.frame_id = frame_id
scan.angle_min = -kAngleMax
scan.angle_max = kAngleMax
scan.angle_increment = (2 * kAngleMax) / kNumberOfScans
scan.range_max = 2.54
return scan
def __init__(self, pins=["P9_27", "P8_15", "P8_11", "P8_12"]):
#sets lidar lite addresses
self.address = 0x62
self.distWriteReg = 0x00
self.distWriteVal = 0x04
self.distReadReg1 = 0x8f
self.distReadReg2 = 0x10
#initilizes the i2c bus on address lidar lite address on bus 1
self.i2c = Adafruit_I2C(self.address, 1)
#creates pins for the stepper motors
self.pins = pins
#initlizes the pins for stepper
initialize_pins(self.pins)
set_all_pins_low(self.pins)
#sets angle to 0
self.angle = 0
# Initialize stepping mode
self.drivemode = fullstep
#sets up ADC
ADC.setup()
#cretes a value for the threshold
self.threshold = .2
#creates a variable for the distance measurment
self.distance = 0
#creates a variable for the last ir sensor read
self.lastval = 1
#creates variables for time
self.startTime = 0.0
self.finishTime = 0.0
self.datatime1 = 0.0
self.datatime2 = 0.0
#creates a list of all angles throughout the scan (saves angle in radians)
self.angleR = []
#creates a variable for the ROS message and initilizes constant parameters
self.msg = LaserScan()
self.header = Header()
self.msg.angle_increment = 0.015708
self.msg.range_min = 0
self.msg.range_max = 40
def __init__(self):
self.position_share_pub = rospy.Publisher('/position_share',
PoseTwistWithCovariance,
queue_size=1)
# Set the name
self.name = rospy.get_namespace()
if self.name == "/":
self.name = gethostname()
else:
self.name = self.name.replace('/', '')
self.name = rospy.get_param('~name', self.name)
rospy.loginfo("Position Share started with name: %s", self.name)
self.neighbors = {}
self.neighbors_lock = Lock()
self.me = None
self.sensor_link = rospy.get_param(
"~base_frame_id",
rospy.get_namespace()[1:] + "base_link")
self.cloud_header = Header()
self.cloud_header.frame_id = self.sensor_link
self.point_cloud_pub = rospy.Publisher('stationary_robots',
PointCloud2,
queue_size=2)
self.clearing_laser_pub = rospy.Publisher('clearing_scan',
LaserScan,
queue_size=1)
self.clearing_laser_scan = LaserScan()
self.clearing_laser_scan.header.frame_id = self.sensor_link
self.clearing_laser_scan.angle_min = -np.math.pi
self.clearing_laser_scan.angle_max = np.math.pi
num_scans = 600
self.clearing_laser_scan.angle_increment = np.math.pi * 2 / num_scans
self.clearing_laser_scan.range_min = 0
self.clearing_laser_scan.range_max = 5
self.clearing_laser_scan.ranges = [3.0] * num_scans
# self.reset_srv = rospy.ServiceProxy('move_base/DWAPlannerROS/clear_local_costmap', Empty, persistent=True)
# rospy.wait_for_service('move_base/DWAPlannerROS/clear_local_costmap', timeout=10.)
rospy.Subscriber('/position_share',
PoseTwistWithCovariance,
self.position_share_cb,
queue_size=1)
rospy.Service('get_neighbors', GetNeighbors, self.get_neighbors_cb)
def move():
rospy.init_node('robot_24', anonymous=True)
velocity_publisher = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
vel_msg = Twist()
vel_msg.linear.x = 0.0
vel_msg.linear.y = 0
vel_msg.linear.z = 0
vel_msg.angular.x = 0
vel_msg.angular.y = 0
vel_msg.angular.z = 0
scan_publisher = rospy.Subscriber('/scan', LaserScan, callback)
lidar_msg = LaserScan()
filname = 'n'
with open(filname) as f_obj:
line = f_obj.readlines()
n = int(line[0])
m = 0
new_dist = float(line[1]) - 0.04
rate = rospy.Rate(10)
while not rospy.is_shutdown():
m += 1
vel_msg.angular.z = -1
velocity_publisher.publish(vel_msg)
rate.sleep()
if k0 <= new_dist:
vel_msg.angular.z = 0
velocity_publisher.publish(vel_msg)
break
while not rospy.is_shutdown():
n -= 1
vel_msg.linear.x = 100
velocity_publisher.publish(vel_msg)
rate.sleep()
if n == 0:
break
vel_msg.linear.x = 0
velocity_publisher.publish(vel_msg)
while not rospy.is_shutdown():
m -= 1
vel_msg.angular.z = -1
velocity_publisher.publish(vel_msg)
rate.sleep()
if m == 0:
break
vel_msg.angular.z = 0
velocity_publisher.publish(vel_msg)
def on_scan(self, msg):
self.scan_count += 1
cur_reading = None
if self.mode == MODE.POSE_SCAN or self.mode == MODE.CMD_VEL_SCAN:
# 0th range measurment is forward using the builtin lidar
cur_reading = msg.ranges[0]
elif self.mode == MODE.POSE_RGBD or self.mode == MODE.CMD_VEL_RGBD:
# for RGBD conversion, the middle range measurement is forward
# > for increased robustness, look at the middle few messages
tries = 0
midI = int(len(msg.ranges) / 2)
loffset = 0
roffset = 0
while cur_reading is None or math.isnan(cur_reading):
if tries % 2 == 0:
cur_reading = msg.ranges[midI + loffset]
loffset -= 1
if tries % 2 == 1:
cur_reading = msg.ranges[midI + roffset]
roffset += 1
tries += 1
if tries > 10:
break
rospy.loginfo("scan #{0} dist:{1}".format(self.scan_count,
cur_reading))
msg = LaserScan()
if math.isnan(cur_reading):
rospy.loginfo("\tUnusable scan reading. Ignoring scan msg")
return
if self.prev_wall_loc is not None:
# Need to jump through some hoops to get sensor model,
# because we choose to make 0 be the starting point of the robot
robot_x = self.kfilter.belief.item(0)
expected_wall_distance = self.prev_wall_loc - robot_x
self.kfilter.update(expected_reading=expected_wall_distance,
reading=cur_reading)
self.publish_state_estimation(msg.header.stamp)
# Setting odom origin as 0, the wall is located at (scan_reading), offset by
# our current location (stored in self.kfilter.belief)
self.prev_wall_loc = self.kfilter.belief.item(0) + cur_reading
rospy.loginfo("\twall location: {0}".format(self.prev_wall_loc))
def __init__(self,
bot_name="NoName",
use_lidar=False,
use_camera=False,
use_imu=False,
use_odom=False,
use_joint_states=False,
use_rviz=False):
self.name = bot_name
# velocity publisher
self.vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
# lidar scan subscriber
if use_lidar:
self.scan = LaserScan()
self.lidar_sub = rospy.Subscriber('scan', LaserScan,
self.lidarCallback)
# camera subscribver
# please uncoment out if you use camera
if use_camera:
# for convert image topic to opencv obj
self.img = None
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber('image_raw', Image,
self.imageCallback)
# imu subscriber
if use_imu:
self.imu_sub = rospy.Subscriber('imu', Imu, self.imuCallback)
# odom subscriber
if use_odom:
self.odom_sub = rospy.Subscriber('odom', Odometry,
self.odomCallback)
# joint_states subscriber
if use_joint_states:
self.odom_sub = rospy.Subscriber('joint_states', JointState,
self.jointstateCallback)
if use_rviz:
# for convert image topic to opencv obj
self.rviz_img = None
self.rviz_bridge = CvBridge()
self.rviz_image_sub = rospy.Subscriber('image_raw', Image,
self.rvizimageCallback)
def __init__(self, dimensions, step):
self.dimensions = dimensions
self.step = step
self.map = OccupancyGrid(self.dimensions, self.step)
self.current_scan = LaserScan()
self.current_pose = RobotPose()
self.sensor_model = SensorModelNarrowNoIntensity()
self.got_scan = False
self.first_odom = True
self.start = True
rospy.init_node("mapper")
rospy.Subscriber("/base_scan", LaserScan, self.laser_callback)
rospy.Subscriber("/odom", Odometry, self.odom_callback)
rospy.Subscriber("/joy", Joy, self.joy_callback)
atexit.register(self.output_maps)
def __init__(self):
scan_front_topic = rospy.get_param("~scan_front", "scan_front")
scan_back_topic = rospy.get_param("~scan_back", "scan_back")
# vel_topic = rospy.get_param("~vel_topic", "cmd_vel")
self.params_config()
self.scan_msg = LaserScan()
rospy.Subscriber(scan_front_topic, LaserScan, self.scan_front_callback)
rospy.Subscriber(scan_back_topic, LaserScan, self.scan_back_callback)
rospy.Service("nav_goal/storage_avoidance", StorageAvoidance, self.handle_avoidance)
# self.vel_pub = rospy.Publisher(vel_topic, Twist, queue_size=1)
# rospy.sleep(rospy.Duration(1.0))
# rate = rospy.Rate(3)
while not rospy.is_shutdown():
rospy.spin()
def timer_cb(self, event):
now = rospy.Time.now()
ls = LaserScan()
ls.header.frame_id = "laser_link"
ls.header.stamp = now
ls.angle_increment = self.ANGLE_STEP
ls.angle_min = self.ANGLE_MIN
ls.angle_max = self.ANGLE_MAX
ls.range_min = self.MIN_RANGE_METERS
ls.range_max = self.MAX_RANGE_METERS
ls.intensities = []
ranges = np.zeros(len(self.ANGLES) * 1, dtype=np.float32)
try:
base_to_map_trans, base_to_map_rot = self.tl.lookupTransform(
"map", "base_link", rospy.Time(0))
except Exception:
return
laser_quat = Quaternion()
laser_quat.x = base_to_map_rot[0]
laser_quat.y = base_to_map_rot[1]
laser_quat.z = base_to_map_rot[2]
laser_quat.w = base_to_map_rot[3]
laser_angle = utils.quaternion_to_angle(laser_quat)
laser_pose_x = base_to_map_trans[0] + self.x_offset * np.cos(
laser_angle)
laser_pose_y = base_to_map_trans[1] + self.x_offset * np.sin(
laser_angle)
range_pose = np.array((laser_pose_x, laser_pose_y, laser_angle),
dtype=np.float32).reshape(1, 3)
self.range_method.calc_range_repeat_angles(range_pose, self.ANGLES,
ranges)
self.noise_laser_scan(ranges)
ls.ranges = ranges.tolist()
self.laser_pub.publish(ls)
def slice_scan(scan, slice):
"""Slice a laser scan like a python list"""
start, end, step = slice.indices(len(scan.ranges))
# TODO - update the timestamp in the header
return LaserScan(
header=scan.header,
angle_min=scan.angle_min + scan.angle_increment * start,
angle_max=scan.angle_min + scan.angle_increment * end,
angle_increment=scan.angle_increment*step,
time_increment=scan.time_increment*step,
scan_time=scan.scan_time,
range_min=scan.range_min,
range_max=scan.range_max,
ranges=scan.ranges[start:end],
intensities=scan.intensities[start:end]
)
class laser_feature:
ranges = LaserScan()
def __init__(self):
'''Initialize ros publisher, ros subscriber'''
# topic where we publish
#self.image_pub = rospy.Publisher("/output/image_raw/compressed", CompressedImage)
# self.bridge = CvBridge()
# subscribed Topic
self.subscriber = rospy.Subscriber("/kobuki/laser/scan",
LaserScan, self.callback, queue_size = 1)
def callback(self, ros_data):
ranges = ros_data.ranges
arq.write(str(ranges))
arq.write("\n")
time.sleep(1)
def __init__(self, num_lidar_beams: int, lidar_range: float):
""" a class to collect and merge observations
Args:
num_lidar_beams (int): [description]
lidar_range (float): [description]
"""
# define observation_space
self.observation_space = ObservationCollector._stack_spaces(
(spaces.Box(low=0,
high=lidar_range,
shape=(num_lidar_beams, ),
dtype=np.float32),
spaces.Box(low=0, high=10, shape=(1, ), dtype=np.float32),
spaces.Box(low=-np.pi, high=np.pi, shape=(1, ),
dtype=np.float32)))
# flag of new sensor info
self._flag_all_received = False
self._scan = LaserScan()
self._robot_pose = Pose2D()
self._robot_vel = Twist()
self._subgoal = Pose2D()
# message_filter subscriber: laserscan, robot_pose
self._scan_sub = message_filters.Subscriber("scan", LaserScan)
self._robot_state_sub = message_filters.Subscriber(
'plan_manager/robot_state', RobotStateStamped)
# message_filters.TimeSynchronizer: call callback only when all sensor info are ready
self.ts = message_filters.ApproximateTimeSynchronizer(
[self._scan_sub, self._robot_state_sub], 100,
slop=0.05) #,allow_headerless=True)
self.ts.registerCallback(self.callback_observation_received)
# topic subscriber: subgoal
#TODO should we synchoronize it with other topics
self._subgoal_sub = message_filters.Subscriber(
'plan_manager/subgoal', PoseStamped
) #self._subgoal_sub = rospy.Subscriber("subgoal", PoseStamped, self.callback_subgoal)
self._subgoal_sub.registerCallback(self.callback_subgoal)
# service clients
self._service_name_step = 'step_world'
self._sim_step_client = rospy.ServiceProxy(self._service_name_step,
StepWorld)
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_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 __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 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 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
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
