Python ColorRGBA.g方法代码示例

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
def SetColour(colour):

    rgb_colour = ColorRGBA()
    rgb_colour.a = 1.0

    if colour == "RED":
        rgb_colour.r = 1.0
        rgb_colour.g = 0.0
        rgb_colour.b = 0.0
        return rgb_colour
    if colour == "GREEN":
        rgb_colour.r = 0.0
        rgb_colour.g = 1.0
        rgb_colour.b = 0.0
        return rgb_colour
    if colour == "BLUE":
        rgb_colour.r = 0.0
        rgb_colour.g = 0.0
        rgb_colour.b = 1.0
        return rgb_colour
    if colour == "RANDOM":
        rgb_colour.r = random.random()
        rgb_colour.g = random.random()
        rgb_colour.b = random.random()
        return rgb_colour

    assert (), "COLOUR not supported, changed to default RED type"
    rgb_colour.r = 1.0
    rgb_colour.g = 0.0
    rgb_colour.b = 0.0
    return rgb_colour

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
    def callLedsForDancing(self, blinking_freq):

        """
        fColor : the first Color
        sColor : the second Color
        By defining LedGroup, we will have RGBA of color of each
        set of colours.
        I suppose that the last parameter of LEDS_BLINK is the frequency,
        although its not on the server definition that I have.
        """

        fColor = ColorRGBA()
        sColor = ColorRGBA()

        fColor.r = 0.5
        fColor.g = 1.0
        fColor.b = 0.5
        sColor.r = 0.0
        sColor.g = 0.0
        sColor.b = 0.0

        ledGroup = LedGroup()

        first_color_duration = rospy.Duration(FIRST_COLOR_DURATION)
        second_color_duration = rospy.Duration(SECOND_COLOR_DURATION)

        try:
            self.LEDS_BLINK(ledGroup, fColor, sColor, first_color_duration, second_color_duration, BLINK_EFECT_DURATION_DANCING, blinking_freq)
        except rospy.ServiceException, e:
            print "Service call To Blinking LEDs failed: %s" % e

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
def callback(joy):
	motor = ColorRGBA()
	color = ColorRGBA()

	if joy.buttons[0]>0:
		color.r =  0
		color.g =  0
		color.b =  150
	if joy.buttons[1]>0:
		color.r =  0
		color.g =  150
		color.b =  0
	if joy.buttons[2]>0:
		color.r =  150
		color.g =  0
		color.b =  0
	if joy.buttons[3]>0:
		color.r =  150
		color.g =  80
		color.b =  0
	y=joy.axes[3]*100.0
	x=joy.axes[2]*-100.0

	##Ouputs throttle from -100 to 100
	f = math.fabs(y/100.0)
	left = y*f+(1-f)*x
	right = y*f -(1-f)*x

	#Change to 0..127..255
	motor.b = left*254.0/200.0 +127.0
	motor.a = left*254.0/200.0 +127.0
	motor.r = right*254.0/200.0 +127.0
	motor.g = right*254.0/200.0 +127.0
	pub_motor.publish(motor)
	pub_color.publish(color)

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
    def __init__(self):

        super(CCA, self).__init__()

        #UIの初期化
        self.initUI()

        #ROSのパブリッシャなどの初期化
        rospy.init_node('roscca', anonymous=True)
        self.mpub = rospy.Publisher('visualization_marker_array', MarkerArray, queue_size=10)
        self.ppub = rospy.Publisher('joint_diff', PointStamped, queue_size=10)

        #rvizのカラー設定(未)
        self.carray = []
        clist = [[1,1,0,1],[0,1,0,1],[1,0,0,1]]
        for c in clist:
            color = ColorRGBA()
            color.r = c[0]
            color.g = c[1]
            color.b = c[2]
            color.a = c[3]
            self.carray.append(color) 

        self.fnames=["20151222_a1.json","20151222_a2.json","20151222_a3.json","20151222_b1.json","20151222_b2.json","20151222_b3.json"]
        #self.fnames=["20151222_a1.json"]
        self.winSizes = [90]

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
    def __init__(self):

        super(CCA, self).__init__()

        #UIの初期化
        self.initUI()

        #クラス間のデータ渡しテスト
        self.test = 100

        #ROSのパブリッシャなどの初期化
        rospy.init_node('roscca', anonymous=True)
        self.mpub = rospy.Publisher('visualization_marker_array', MarkerArray, queue_size=10)
        self.ppub = rospy.Publisher('joint_diff', PointStamped, queue_size=10)

        #rvizのカラー設定(未)
        self.carray = []
        clist = [[1,1,0,1],[0,1,0,1],[1,0,0,1]]
        for c in clist:
            color = ColorRGBA()
            color.r = c[0]
            color.g = c[1]
            color.b = c[2]
            color.a = c[3]
            self.carray.append(color) 

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
 def to_msg(self):
     msg = ColorRGBA()
     msg.r = self.r / 255.0
     msg.g = self.g / 255.0
     msg.b = self.b / 255.0
     msg.a = 1.0
     return msg

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
	def MoveToBlob(self,msg): #Moves to the largest blob
		drivemsg = AckermannDriveStamped() #Sets the drive messaged to the AckermannDriveStamped message type
		drivemsg.drive.speed = 2	#Sets a field of the drivemsg message.

				
		#Gets the position of the largest green blob. The first green blob will be the largest green blob because the blobs are sorted by size. (index 0 is biggest size)

		ele = ColorRGBA()
		ele.r = 0
		ele.g = 255
		largest_green_blob_index = self.blob_detect.colors.index(ele)

		blob_pos = self.blob_detec.locations[largest_green_bloc_index]  #Get's the position of the largest green block					
		blob_x_pos = blob_pos[0]
		blob_y_pos = blob_pos[1]
		
		biggest_blob_area = blob_detec.sizes[0] #The blob with index one is the biggest blob
		
		if (biggest_blob_area < 1000):	#Keep moving	
			if (blob_x_pos > self.img_width/2): 	#If Blob is On the right side
				drivemsg.drive.steering_angle = .33 #Turn left
			if (blob_x_pos < self.img_width/2): #If Blob is on the left side.
				drivemsg.drive.steering_angle = -0.33 #Turn right
			self.pub_mov_func.publish(drivemsg)
		else:	# if the contour is really big, we are close to the sign, so we do an emergency stop. We can delete this if we were to use the lidar.
			drivemsg.drive.speed = 0
			self.pub_mov_func.publish(drivemsg)

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
	def MoveToBlob(self): #Moves to the largest [choose a color] blob
		self.drive_msg.drive.speed = 2	#Sets a field of the drivemsg message.
				
		#Gets the position of the largest green blob. The first green blob will be the largest green blob because the blobs are sorted by size. (index 0 is biggest size). The next three lines
		#define a specific color that we want to find/move to
		ele = ColorRGBA()
		ele.r = 0
		ele.g = 255
		largest_green_blob_index = self.blob_detect.colors.index(ele)
		blob_pos = self.blob_detect.locations[largest_green_blob_index]  
					
		blob_x_pos = blob_pos[0]		#This will be in between 0 and 1 (inclusive) (0 is the left and 1 is the right (?))
		blob_y_pos = blob_pos[1]		#Same thing here
		
		blob_area = blob_detect.size[largest_green_blob_index] #Get the area of the largest block of the set of the blocks with the color we specified
		

		if (blob_area < 1000):	#Keep moving unless the blob_area becomes too big (meaning that we must be very close to the blob, ie it is taking up more of our field of vision.
			#If the blob_area is "small, we want to keep moving toward the blob while continually centering our field of vision with the blob.
			if (blob_x_pos > 0.55): #If Blob is On the right side
				drive_msg.drive.steering_angle = .33 #Turn left
			elif (blob_x_pos < 0.45): #If Blob is on the left side.
				drive_msg.drive.steering_angle = -0.33 #Turn right
			else:	#If blob_x_pos (the x component of the blob's centroid) is in the middle 200 pixels, just move forward
				drive_msg.drive.steering_angle = 0
			self.pub_mov_func.publish(drive_msg)
		else:	# if the contour is really big, we are close to the sign, so we do an emergency stop. This is a bit redundant with our emergency stop function that comes from the lidar scan.
			self.drive_msg.drive.speed = 0
			self.pub_mov_func.publish(drive_msg)

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
def main():
    display_pub = rospy.Publisher('leds/display', Keyframe, queue_size=10)
    anim_pub = rospy.Publisher('leds/animation', Animation, queue_size=10)
    set_pub = rospy.Publisher('leds/set', Command, queue_size=10)

    rospy.init_node('led_anim_clear', anonymous = True)
    time.sleep(0.5)

    keyframe_msg = Keyframe()
    command_msg = Command()
    color_msg = ColorRGBA()
    anim_msg = Animation()
    
    rospy.loginfo("Single frame test ...")
    keyframe_msg.color_pattern = []
    color_msg.r = 0.0
    color_msg.g = 0.0
    color_msg.b = 0.0
    keyframe_msg.color_pattern.append(copy.deepcopy(color_msg))
    display_pub.publish(keyframe_msg)
    time.sleep(0.5)

    rospy.loginfo("Clearing the animation...")    
    anim_msg.iteration_count = 1
    anim_pub.publish(anim_msg)
    time.sleep(1)

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
    def __init__(self):

        super(CCA, self).__init__()

        #UIの初期化
        self.initUI()

        #ファイル入力
        #self.jsonInput()

        #ROSのパブリッシャなどの初期化
        rospy.init_node('ros_cca_table', anonymous=True)
        self.mpub = rospy.Publisher('visualization_marker_array', MarkerArray, queue_size=10)
        self.ppub = rospy.Publisher('joint_diff', PointStamped, queue_size=10)


        self.carray = []
        clist = [[1,1,0,1],[0,1,0,1],[1,0,0,1]]
        for c in clist:
            color = ColorRGBA()
            color.r = c[0]
            color.g = c[1]
            color.b = c[2]
            color.a = c[3]
            self.carray.append(color) 

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
def hex_to_color_msg(hex_str):
    rgb = struct.unpack('BBB', hex_str.decode('hex'))
    msg = ColorRGBA()
    msg.r = rgb[0]
    msg.g = rgb[1]
    msg.b = rgb[2]
    msg.a = 1
    return msg

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
    def callLedsForCmplxMv(self):

        fColor = ColorRGBA()
        sColor = ColorRGBA()

        fColor.r = 1.0
        fColor.g = 1.0
        fColor.b = 1.0
        sColor.r = 0.0
        sColor.g = 0.0
        sColor.b = 0.0

        ledGroup = LedGroup()
        ledGroup.ledMask = 3  # binary mask to decide which leds are active
        try:
            self.LEDS_BLINK(ledGroup, fColor, sColor, rospy.Duration(0.75), rospy.Duration(0.25), rospy.Duration(5), 50)
        except rospy.ServiceException, e:
            print "Service call failed: %s" % e

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
 def static_area_makers(self):
  color = ColorRGBA()
  scale = Point()
  scale.x = 0.05
  scale.y = 0.05
  color.r = 1.0
  color.g = 1.0
  color.b = 0.0
  color.a = 1.0
  self.points_marker = self.visual_test(self.static_area, Marker.POINTS, color, scale)

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
	def set_light(self,parameter_name,blocking=False):
		ah = action_handle("set", "light", parameter_name, blocking, self.parse)
		if(self.parse):
			return ah
		else:
			ah.set_active(mode="topic")

		rospy.loginfo("Set light to <<%s>>",parameter_name)
		
		# get joint values from parameter server
		if type(parameter_name) is str:
			if not rospy.has_param(self.ns_global_prefix + "/light/" + parameter_name):
				rospy.logerr("parameter %s does not exist on ROS Parameter Server, aborting...",self.ns_global_prefix + "/light/" + parameter_name)
				return 2
			param = rospy.get_param(self.ns_global_prefix + "/light/" + parameter_name)
		else:
			param = parameter_name
			
		# check color parameters
		if not type(param) is list: # check outer list
			rospy.logerr("no valid parameter for light: not a list, aborting...")
			print "parameter is:",param
			ah.error_code = 3
			return ah
		else:
			if not len(param) == 3: # check dimension
				rospy.logerr("no valid parameter for light: dimension should be 3 (r,g,b) and is %d, aborting...",len(param))
				print "parameter is:",param
				ah.error_code = 3
				return ah
			else:
				for i in param:
					#print i,"type1 = ", type(i)
					if not ((type(i) is float) or (type(i) is int)): # check type
						#print type(i)
						rospy.logerr("no valid parameter for light: not a list of float or int, aborting...")
						print "parameter is:",param
						ah.error_code = 3
						return ah
					else:
						rospy.logdebug("accepted parameter %f for light",i)
		
		# convert to ColorRGBA message
		color = ColorRGBA()
		color.r = param[0]
		color.g = param[1]
		color.b = param[2]
		color.a = 1 # Transparency

		# publish color		
		self.pub_light.publish(color)
		
		ah.set_succeeded()
		ah.error_code = 0
		return ah

# 需要导入模块: from std_msgs.msg import ColorRGBA [as 别名]
# 或者: from std_msgs.msg.ColorRGBA import g [as 别名]
    def create_trajectory_marker(self, traj):
        # create an interactive marker for our server
        int_marker = InteractiveMarker()
        int_marker.header.frame_id = "/map"
        int_marker.name = traj.uuid
        int_marker.description = traj.uuid
        pose = Pose()
        pose.position.x = traj.pose[0]['position']['x']
        pose.position.y = traj.pose[0]['position']['y']
        int_marker.pose = pose

        line_marker = Marker()
        line_marker.type = Marker.LINE_STRIP
        line_marker.scale.x = 0.05

        # random.seed(traj.uuid)
        # val = random.random()
        # line_marker.color.r = r_func(val)
        # line_marker.color.g = g_func(val)
        # line_marker.color.b = b_func(val)
        # line_marker.color.a = 1.0

        line_marker.points = []

        MOD  = 1
        for i, point in enumerate(traj.pose):
            if i % MOD == 0:
                x = point['position']['x']
                y = point['position']['y']
                p = Point()
                p.x = x - int_marker.pose.position.x  
                p.y = y - int_marker.pose.position.y
                line_marker.points.append(p)

        line_marker.colors = []
        for i, vel in enumerate(traj.vel):
            if i % MOD == 0:
                color = ColorRGBA()
                val = vel / traj.max_vel
                color.r = r_func(val)
                color.g = g_func(val)
                color.b = b_func(val)
                color.a = 1.0
                line_marker.colors.append(color)
                

                
        # create a control which will move the box
        # this control does not contain any markers,
        # which will cause RViz to insert two arrows
        control = InteractiveMarkerControl()
        control.markers.append(line_marker) 
        int_marker.controls.append(control)
        
        return int_marker