本文整理汇总了Python中tf.TransformBroadcaster类的典型用法代码示例。如果您正苦于以下问题：Python TransformBroadcaster类的具体用法？Python TransformBroadcaster怎么用？Python TransformBroadcaster使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。
在下文中一共展示了TransformBroadcaster类的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: Right_Utility_Frame
class Right_Utility_Frame():
frame = 'base_footprint'
px = py = pz = 0;
qx = qy = qz = 0;
qw = 1;
def __init__(self):
rospy.init_node('right_utilitiy_frame_source')
self.updater = rospy.Service('r_utility_frame_update', FrameUpdate, self.update_frame)
self.tfb = TransformBroadcaster()
def update_frame(self, req):
ps = req.pose
self.frame = ps.header.frame_id
self.px = ps.pose.position.x
self.py = ps.pose.position.y
self.pz = ps.pose.position.z
self.qx = ps.pose.orientation.x
self.qy = ps.pose.orientation.y
self.qz = ps.pose.orientation.z
self.qw = ps.pose.orientation.w
self.tfb.sendTransform((self.px,self.py,self.pz),(self.qx,self.qy,self.qz,self.qw), rospy.Time.now(), "rh_utility_frame", self.frame)
rsp = Bool()
rsp.data = True
return rsp示例2: Left_Utility_Frame
class Left_Utility_Frame():
frame = 'base_footprint'
px = py = pz = 0;
qx = qy = qz = 0;
qw = 1;
def __init__(self):
rospy.init_node('left_utilitiy_frame_source')
self.updater = rospy.Service('l_utility_frame_update', FrameUpdate, self.update_frame)
self.tfb = TransformBroadcaster()
def update_frame(self, req):
ps = req.pose
if not (math.isnan(ps.pose.orientation.x) or
math.isnan(ps.pose.orientation.y) or
math.isnan(ps.pose.orientation.z) or
math.isnan(ps.pose.orientation.w)):
self.frame = ps.header.frame_id
self.px = ps.pose.position.x
self.py = ps.pose.position.y
self.pz = ps.pose.position.z
self.qx = ps.pose.orientation.x
self.qy = ps.pose.orientation.y
self.qz = ps.pose.orientation.z
self.qw = ps.pose.orientation.w
else:
rospy.logerr("NAN's sent to l_utility_frame_source")
self.tfb.sendTransform((self.px,self.py,self.pz),(self.qx,self.qy,self.qz,self.qw), rospy.Time.now(), "lh_utility_frame", self.frame)
rsp = Bool()
rsp.data = True
return rsp示例3: OptiTrackClient
class OptiTrackClient():
def __init__(self, addr, port, obj_names, world, dt, rate=120):
"""
Class tracking optitrack markers through VRPN and publishing their TF frames as well as the transformation
from the robot's world frame to the optitrack frame
:param addr: IP of the VRPN server
:param port: Port of the VRPN server
:param obj_names: Name of the tracked rigid bodies
:param world: Name of the robot's world frame (base_link, map, base, ...)
:param dt: Delta T in seconds whilst a marker is still considered tracked
:param rate: Rate in Hertz of the publishing loop
"""
self.rate = rospy.Rate(rate)
self.obj_names = obj_names
self.world = world
self.dt = rospy.Duration(dt)
self.tfb = TransformBroadcaster()
self.trackers = []
for obj in obj_names:
t = vrpn.receiver.Tracker('{}@{}:{}'.format(obj, addr, port))
t.register_change_handler(obj, self.handler, 'position')
self.trackers.append(t)
self.tracked_objects = {}
@property
def recent_tracked_objects(self):
""" Only returns the objects that have been tracked less than 20ms ago. """
f = lambda name: (rospy.Time.now() - self.tracked_objects[name].timestamp)
return dict([(k, v) for k, v in self.tracked_objects.iteritems() if f(k) < self.dt])
def handler(self, obj, data):
self.tracked_objects[obj] = TrackedObject(data['position'],
data['quaternion'],
rospy.Time.now())
def run(self):
while not rospy.is_shutdown():
for t in self.trackers:
t.mainloop()
# Publish the calibration matrix
calib_matrix = rospy.get_param("/optitrack/calibration_matrix")
self.tfb.sendTransform(calib_matrix[0], calib_matrix[1], rospy.Time.now(), "optitrack_frame", self.world)
# Publish all other markers as frames
for k, v in self.recent_tracked_objects.iteritems():
self.tfb.sendTransform(v.position, v.quaternion, v.timestamp, k, "optitrack_frame")
self.rate.sleep()示例4: Rebroadcaster
class Rebroadcaster(object):
def __init__(self):
self.broadcaster = TransformBroadcaster()
self.ell_param_sub = rospy.Subscriber('ellipsoid_params', EllipsoidParams, self.ell_cb)
self.transform = None
def ell_cb(self, ell_msg):
print "Got transform"
self.transform = copy.copy(ell_msg.e_frame)
def send_transform(self):
print "spinning", self.transform
if self.transform is not None:
print "Sending frame"
self.broadcaster.sendTransform(self.transform)示例5: __init__
def __init__(self):
rospy.init_node("learn_transform")
self.tf_listener = TransformListener()
self.tf_broadcaster = TransformBroadcaster()
self.possible_base_link_poses = []
self.baselink_averages = []
self.rate = rospy.Rate(20)
self.markers = { "/PATTERN_1": Pose( [-0.56297, 0.11, 0.0035],
[0.0, 0.0, 0.0, 1.0] ),
"/PATTERN_2": Pose( [-0.45097, 0.11, 0.0035],
[0.0, 0.0, 0.0, 1.0] ),
"/PATTERN_3": Pose( [-0.34097, 0.0, 0.0035],
[0.0, 0.0, 0.0, 1.0] ),
"/PATTERN_4": Pose( [-0.34097, -0.11, 0.0035],
[0.0, 0.0, 0.0, 1.0] ),
"/PATTERN_5": Pose( [-0.45097, -0.11, 0.0035],
[0.0, 0.0, 0.0, 1.0] ),
"/PATTERN_6": Pose( [-0.56297, 0.0, 0.0035],
[0.0, 0.0, 0.0, 1.0] )
}
self.run()示例6: __init__
def __init__(self, use_dummy_transform=False):
rospy.init_node('star_center_positioning_node')
if use_dummy_transform:
self.odom_frame_name = ROBOT_NAME+"_odom_dummy"
else:
self.odom_frame_name = ROBOT_NAME+"_odom"
self.marker_locators = {}
self.add_marker_locator(MarkerLocator(0,(-6*12*2.54/100.0,0),0))
self.add_marker_locator(MarkerLocator(1,(0.0,0.0),pi))
self.add_marker_locator(MarkerLocator(2,(0.0,10*12*2.54/100.0),0))
self.add_marker_locator(MarkerLocator(3,(-6*12*2.54/100.0,6*12*2.54/100.0),0))
self.add_marker_locator(MarkerLocator(4,(0.0,6*12*2.54/100.0),pi))
self.pose_correction = rospy.get_param('~pose_correction',0.0)
self.phase_offset = rospy.get_param('~phase_offset',0.0)
self.is_flipped = rospy.get_param('~is_flipped',False)
srv = Server(STARPoseConfig, self.config_callback)
self.marker_sub = rospy.Subscriber("ar_pose_marker",
ARMarkers,
self.process_markers)
self.odom_sub = rospy.Subscriber(ROBOT_NAME+"/odom", Odometry, self.process_odom, queue_size=10)
self.star_pose_pub = rospy.Publisher(ROBOT_NAME+"/STAR_pose",PoseStamped,queue_size=10)
self.continuous_pose = rospy.Publisher(ROBOT_NAME+"/STAR_pose_continuous",PoseStamped,queue_size=10)
self.tf_listener = TransformListener()
self.tf_broadcaster = TransformBroadcaster()示例7: __init__
def __init__(self):
self.listener = TransformListener()
self.br = TransformBroadcaster()
self.pub_freq = 100.0
self.parent_frame_id = "world"
self.child1_frame_id = "reference1"
self.child2_frame_id = "reference2"
self.child3_frame_id = "reference3"
self.child4_frame_id = "reference4"
rospy.Timer(rospy.Duration(1 / self.pub_freq), self.reference2)
rospy.Timer(rospy.Duration(1 / self.pub_freq), self.reference3)
rospy.Timer(rospy.Duration(1 / self.pub_freq), self.reference4)
rospy.sleep(1.0)
recorder_0 = RecordingManager("all")
recorder_1 = RecordingManager("test1")
recorder_2 = RecordingManager("test2")
recorder_3 = RecordingManager("test3")
recorder_0.start()
recorder_1.start()
self.pub_line(length=1, time=5)
recorder_1.stop()
recorder_2.start()
self.pub_quadrat(length=2, time=10)
recorder_2.stop()
recorder_3.start()
self.pub_circ(radius=2, time=5)
recorder_3.stop()
recorder_0.stop()示例8: __init__
def __init__(self, use_dummy_transform=False):
rospy.init_node("star_center_positioning_node")
self.robot_name = rospy.get_param("~robot_name", "")
self.odom_frame_name = self.robot_name + "_odom"
self.base_link_frame_name = self.robot_name + "_base_link"
self.marker_locators = {}
self.add_marker_locator(MarkerLocator(0, (-6 * 12 * 2.54 / 100.0, 0), 0))
self.add_marker_locator(MarkerLocator(1, (0.0, 0.0), pi))
self.add_marker_locator(MarkerLocator(2, (0.0, 10 * 12 * 2.54 / 100.0), 0))
self.add_marker_locator(MarkerLocator(3, (-6 * 12 * 2.54 / 100.0, 6 * 12 * 2.54 / 100.0), 0))
self.add_marker_locator(MarkerLocator(4, (0.0, 6 * 12 * 2.54 / 100), pi))
self.add_marker_locator(MarkerLocator(5, (-4 * 12 * 2.54 / 100.0, 14 * 12 * 2.54 / 100.0), pi))
self.pose_correction = rospy.get_param("~pose_correction", 0.0)
self.phase_offset = rospy.get_param("~phase_offset", 0.0)
self.is_flipped = rospy.get_param("~is_flipped", False)
srv = Server(STARPoseConfig, self.config_callback)
self.marker_sub = rospy.Subscriber("ar_pose_marker", ARMarkers, self.process_markers)
self.odom_sub = rospy.Subscriber("odom", Odometry, self.process_odom, queue_size=10)
self.star_pose_pub = rospy.Publisher("STAR_pose", PoseStamped, queue_size=10)
self.continuous_pose = rospy.Publisher("STAR_pose_continuous", PoseStamped, queue_size=10)
self.tf_listener = TransformListener()
self.tf_broadcaster = TransformBroadcaster()示例9: __init__
def __init__(self, use_dummy_transform=False):
print "init"
rospy.init_node("star_center_positioning_node")
if use_dummy_transform:
self.odom_frame_name = ROBOT_NAME + "_odom_dummy" # identify this odom as ROBOT_NAME's
else:
self.odom_frame_name = ROBOT_NAME + "_odom" # identify this odom as ROBOT_NAME's
self.marker_locators = {}
self.add_marker_locator(MarkerLocator(0, (-6 * 12 * 2.54 / 100.0, 0), 0))
self.add_marker_locator(MarkerLocator(1, (0.0, 0.0), pi))
self.add_marker_locator(MarkerLocator(2, (0.0, 10 * 12 * 2.54 / 100.0), 0))
self.add_marker_locator(MarkerLocator(3, (-6 * 12 * 2.54 / 100.0, 6 * 12 * 2.54 / 100.0), 0))
self.pose_correction = rospy.get_param("~pose_correction", 0.0)
self.marker_sub = rospy.Subscriber("ar_pose_marker", ARMarkers, self.process_markers)
self.odom_sub = rospy.Subscriber(
ROBOT_NAME + "/odom", Odometry, self.process_odom, queue_size=10
) # publish and subscribe to the correct robot's topics
self.star_pose_pub = rospy.Publisher(ROBOT_NAME + "/STAR_pose", PoseStamped, queue_size=10)
self.continuous_pose = rospy.Publisher(ROBOT_NAME + "/STAR_pose_continuous", PoseStamped, queue_size=10)
self.tf_listener = TransformListener()
self.tf_broadcaster = TransformBroadcaster()示例10: __init__
def __init__(self):
if World.tf_listener == None:
World.tf_listener = TransformListener()
self._lock = threading.Lock()
self.surface = None
self._tf_broadcaster = TransformBroadcaster()
self._im_server = InteractiveMarkerServer('world_objects')
bb_service_name = 'find_cluster_bounding_box'
rospy.wait_for_service(bb_service_name)
self._bb_service = rospy.ServiceProxy(bb_service_name,
FindClusterBoundingBox)
rospy.Subscriber('interactive_object_recognition_result',
GraspableObjectList, self.receive_object_info)
self._object_action_client = actionlib.SimpleActionClient(
'object_detection_user_command', UserCommandAction)
self._object_action_client.wait_for_server()
rospy.loginfo('Interactive object detection action ' +
'server has responded.')
self.clear_all_objects()
# The following is to get the table information
rospy.Subscriber('tabletop_segmentation_markers',
Marker, self.receive_table_marker)
rospy.Subscriber("ar_pose_marker",
AlvarMarkers, self.receive_ar_markers)
self.marker_dims = Vector3(0.04, 0.04, 0.01)示例11: __init__
def __init__(self):
self.initialized = False # make sure we don't perform updates before everything is setup
rospy.init_node('pf') # tell roscore that we are creating a new node named "pf"
self.base_frame = "base_link" # the frame of the robot base
self.map_frame = "map" # the name of the map coordinate frame
self.odom_frame = "odom" # the name of the odometry coordinate frame
self.scan_topic = "scan" # the topic where we will get laser scans from
self.n_particles = 300 # the number of particles to use
self.d_thresh = 0.2 # the amount of linear movement before performing an update
self.a_thresh = math.pi/6 # the amount of angular movement before performing an update
self.laser_max_distance = 2.0 # maximumls penalty to assess in the likelihood field model
# TODO: define additional constants if needed
#### DELETE BEFORE POSTING
self.alpha1 = 0.2
self.alpha2 = 0.2
self.alpha3 = 0.2
self.alpha4 = 0.2
self.z_hit = 0.5
self.z_rand = 0.5
self.sigma_hit = 0.1
##### DELETE BEFORE POSTING
# Setup pubs and subs
# pose_listener responds to selection of a new approximate robot location (for instance using rviz)
self.pose_listener = rospy.Subscriber("initialpose", PoseWithCovarianceStamped, self.update_initial_pose)
# publish the current particle cloud. This enables viewing particles in rviz.
self.particle_pub = rospy.Publisher("particlecloud", PoseArray)
self.a_particle_pub = rospy.Publisher("particle", PoseStamped)
# laser_subscriber listens for data from the lidar
self.laser_subscriber = rospy.Subscriber(self.scan_topic, LaserScan, self.scan_received)
# enable listening for and broadcasting coordinate transforms
self.tf_listener = TransformListener()
self.tf_broadcaster = TransformBroadcaster()
self.particle_cloud = []
self.current_odom_xy_theta = []
# request the map
# Difficulty level 2
rospy.wait_for_service("static_map")
static_map = rospy.ServiceProxy("static_map", GetMap)
try:
map = static_map().map
except:
print "error receiving map"
self.occupancy_field = OccupancyField(map)
self.initialized = True示例12: __init__
def __init__(self):
self.tfBroadcaster = TransformBroadcaster()
q = transformations.quaternion_from_euler(0,0,pi)
self.humanPose = Pose(Point(5, 0, 1.65), Quaternion(*q))
self.markerPublisher = rospy.Publisher('visualization_marker', Marker)
rospy.loginfo('Initialized.')
self.startTime = time.time()
rospy.init_node('fake_human_node', anonymous=True)示例13: __init__
def __init__(self):
self.tf = TransformListener()
self.tfb = TransformBroadcaster()
self.active = True
self.head_pose = PoseStamped()
self.goal_pub = rospy.Publisher('goal_pose', PoseStamped)
rospy.Subscriber('/head_center', PoseStamped, self.head_pose_cb)
rospy.Service('/point_mirror', PointMirror, self.point_mirror_cb)示例14: __init__
def __init__(self, E=1, is_oblate=False):
self.A = 1
self.E = E
#self.B = np.sqrt(1. - E**2)
self.a = self.A * self.E
self.is_oblate = is_oblate
self.center = None
self.frame_broadcaster = TransformBroadcaster()
self.center_tf_timer = None示例15: __init__
def __init__(self):
self.initialized = False # make sure we don't perform updates before everything is setup
rospy.init_node('pf') # tell roscore that we are creating a new node named "pf"
self.base_frame = "base_link" # the frame of the robot base
self.map_frame = "map" # the name of the map coordinate frame
self.odom_frame = "odom" # the name of the odometry coordinate frame
self.scan_topic = "scan" # the topic where we will get laser scans from
self.n_particles = 100 # the number of particles to use
self.d_thresh = 0.2 # the amount of linear movement before performing an update
self.a_thresh = math.pi/6 # the amount of angular movement before performing an update
self.laser_max_distance = 2.0 # maximum penalty to assess in the likelihood field model
self.sigma = 0.08
# TODO: define additional constants if needed
# Setup pubs and subs
# pose_listener responds to selection of a new approximate robot location (for instance using rviz)
self.pose_listener = rospy.Subscriber("initialpose", PoseWithCovarianceStamped, self.update_initial_pose)
# publish the current particle cloud. This enables viewing particles in rviz.
self.particle_pub = rospy.Publisher("particlecloud", PoseArray, queue_size=10)
self.marker_pub = rospy.Publisher("markers", MarkerArray, queue_size=10)
# laser_subscriber listens for data from the lidar
# Dados do Laser: Mapa de verossimilhança/Occupancy field/Likehood map e Traçado de raios.
# Traçado de raios: Leitura em ângulo que devolve distância, através do sensor. Dado o mapa,
# extender a direção da distância pra achar um obstáculo.
self.laser_subscriber = rospy.Subscriber(self.scan_topic, LaserScan, self.scan_received)
# enable listening for and broadcasting coordinate transforms
#atualização de posição(odometria)
self.tf_listener = TransformListener()
self.tf_broadcaster = TransformBroadcaster()
self.particle_cloud = []
self.current_odom_xy_theta = []
#Chamar o mapa a partir de funcao externa
mapa = chama_mapa.obter_mapa()
# request the map from the map server, the map should be of type nav_msgs/OccupancyGrid
# TODO: fill in the appropriate service call here. The resultant map should be assigned be passed
# into the init method for OccupancyField
# for now we have commented out the occupancy field initialization until you can successfully fetch the map
self.occupancy_field = OccupancyField(mapa)
self.initialized = True