本文整理汇总了Python中nav_msgs.msg.Odometry.pose方法的典型用法代码示例。如果您正苦于以下问题：Python Odometry.pose方法的具体用法？Python Odometry.pose怎么用？Python Odometry.pose使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类nav_msgs.msg.Odometry的用法示例。
在下文中一共展示了Odometry.pose方法的5个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: publish_odometry
# 需要导入模块: from nav_msgs.msg import Odometry [as 别名]
# 或者: from nav_msgs.msg.Odometry import pose [as 别名]
def publish_odometry(self, odom_combined):
"""
use current pose, along with delta from last pose to publish
the current Odometry on the /odom topic
"""
if not self.last_time:
# set up initial times and pose
rospy.loginfo("Setting up initial position")
self.last_time, self.last_x, y, self.last_theta = self.current_pose(odom_combined)
return
# publish to the /odom topic
odom = Odometry()
odom.header.stamp = rospy.Time.now()
odom.header.frame_id = "/base_link"
odom.pose = odom_combined.pose
current_time, x, y, theta = self.current_pose(odom_combined)
dt = current_time - self.last_time
dt = dt.to_sec()
d_x = x - self.last_x
d_theta = theta - self.last_theta
odom.twist.twist = Twist(Vector3(d_x/dt, 0, 0), Vector3(0, 0, d_theta/dt))
self.odom_publisher.publish(odom)
self.last_time, self.last_x, self.last_theta = current_time, x, theta示例2: pub_ekf_odom
# 需要导入模块: from nav_msgs.msg import Odometry [as 别名]
# 或者: from nav_msgs.msg.Odometry import pose [as 别名]
def pub_ekf_odom(self, msg):
odom = Odometry()
odom.header = msg.header
odom.child_frame_id = 'base_footprint'
odom.pose = msg.pose
self.ekf_pub.publish(odom)示例3: __update_odometry
# 需要导入模块: from nav_msgs.msg import Odometry [as 别名]
# 或者: from nav_msgs.msg.Odometry import pose [as 别名]
def __update_odometry(self, linear_offset, angular_offset, tf_delay):
self.__heading = (self.__heading + angular_offset) % 360
q = tf.transformations.quaternion_from_euler(0, 0, math.radians(self.__heading))
self.__pose.position.x += math.cos(math.radians(self.__heading)) * self.__distance_per_cycle * self.__twist.linear.x
self.__pose.position.y += math.sin(math.radians(self.__heading)) * self.__distance_per_cycle * self.__twist.linear.x
self.__pose.position.z = 0.33
self.__pose.orientation = Quaternion(q[0], q[1], q[2], q[3])
now = rospy.Time.now() + rospy.Duration(tf_delay)
self.__tfb.sendTransform(
(self.__pose.position.x, self.__pose.position.y, self.__pose.position.z),
q,
now,
'base_link',
'odom')
o = Odometry()
o.header.stamp = now
o.header.frame_id = 'odom'
o.child_frame_id = 'base_link'
o.pose = PoseWithCovariance(self.__pose, None)
o.twist = TwistWithCovariance()
o.twist.twist.linear.x = self.__distance_per_second * self.__twist.linear.x
o.twist.twist.angular.z = math.radians(self.__rotation_per_second) * self.__twist.angular.z示例4: callback
# 需要导入模块: from nav_msgs.msg import Odometry [as 别名]
# 或者: from nav_msgs.msg.Odometry import pose [as 别名]
def callback(data):
print data
odom = Odometry()
odom.pose = data.pose
odom.header.stamp = rospy.Time.now()
odom.header.frame_id = "/odom"
global pub
pub.publish(odom)示例5: callback
# 需要导入模块: from nav_msgs.msg import Odometry [as 别名]
# 或者: from nav_msgs.msg.Odometry import pose [as 别名]
def callback(data):
odom = Odometry()
odom.header = data.header
odom.child_frame_id = child_frame_id
odom.pose = data.pose
pub.publish(odom)