本文整理汇总了Python中sensor_msgs.msg.LaserScan.angle_max方法的典型用法代码示例。如果您正苦于以下问题：Python LaserScan.angle_max方法的具体用法？Python LaserScan.angle_max怎么用？Python LaserScan.angle_max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sensor_msgs.msg.LaserScan的用法示例。
在下文中一共展示了LaserScan.angle_max方法的15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: prepare_laserscan_msg
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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示例2: checker
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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()示例3: merge_scans
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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示例4: getLaserScan
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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示例5: handle_scanner_msg
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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)示例6: create_lidar_msg
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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示例7: _processLaserscan
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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示例8: createLaserMessage
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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示例9: spin
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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 = []示例10: update
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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)示例11: publish_laser_msg
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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)示例12: publish_scan
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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)示例13: build_laser_scan
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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示例14: make_wallscan
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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示例15: create_laser_msg
# 需要导入模块: from sensor_msgs.msg import LaserScan [as 别名]
# 或者: from sensor_msgs.msg.LaserScan import angle_max [as 别名]
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