def map_callback(msg):
global latest_map
global latest_data
width = int(math.sqrt(len(msg.data)))
size = (width, width)
im = Image.new('RGBA', size)
im.putdata([color_filter(x) for x in msg.data])
latest_map = trim_map.trim(im)
latest_data = np.reshape(msg.data, size)
if isinstance(msg, OccupancyGrid):
rospy.Subscriber("/move_base/global_costmap/costmap_updates",
OccupancyGridUpdate, update_map_callback)
def map_callback(msg):
global latest_map
global latest_data
width = int(math.sqrt(len(msg.data)))
size = (width, width)
im = Image.new('RGBA', size)
im.putdata([color_filter(x) for x in msg.data])
latest_map = trim_map.trim(im)
latest_data = np.reshape(msg.data, size)
if isinstance(msg, OccupancyGrid):
rospy.Subscriber("/move_base/global_costmap/costmap_updates",
OccupancyGridUpdate, update_map_callback)
from nav_msgs.msg import *
from map_msgs.msg import *
from std_msgs.msg import String
from alfred_server.msg import *
import numpy as np
import trim_map
import random
MAP_FILE = "/home/avengineer/alfred_ws/ros_alfred/src/alfred_maps/pharos_lab/pharos_lab.pgm"
inventory = {}
inventory.update(DEFAULT_INV)
latest_data = [0 for i in range(1984 * 1984)]
im = Image.open(MAP_FILE)
latest_map = trim_map.trim(im)
latest_odom = (0, 0, 0)
def update_odom_callback(msg):
global latest_odom
latest_odom = msg.pose.pose.position
def color_filter(x):
if x == 0:
#return (0xe8,0xcf,0xb7,0x0)
#return (240, 240, 240, 150)
return (204, 235, 250, 150)
if x == 100:
return (0, 0, 0, 255)
#return (0xe8-x/2, 0xcf-x/2, 0xb7-x/2, 255)
return (204-x/2, 235-x/2, 250-x/2, 255)
from nav_msgs.msg import *
from map_msgs.msg import *
from std_msgs.msg import String
from alfred_server.msg import *
import numpy as np
import trim_map
import random
MAP_FILE = "/home/avengineer/alfred_ws/ros_alfred/src/alfred_maps/pharos_lab/pharos_lab.pgm"
inventory = {}
inventory.update(DEFAULT_INV)
latest_data = [0 for i in range(1984 * 1984)]
im = Image.open(MAP_FILE)
latest_map = trim_map.trim(im)
latest_odom = (0, 0, 0)
def update_odom_callback(msg):
global latest_odom
latest_odom = msg.pose.pose.position
def color_filter(x):
if x == 0:
#return (0xe8,0xcf,0xb7,0x0)
#return (240, 240, 240, 150)
return (204, 235, 250, 150)
if x == 100:
return (0, 0, 0, 255)
