本文整理汇总了Python中tf2_ros.ExtrapolationException方法的典型用法代码示例。如果您正苦于以下问题：Python tf2_ros.ExtrapolationException方法的具体用法？Python tf2_ros.ExtrapolationException怎么用？Python tf2_ros.ExtrapolationException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tf2_ros的用法示例。
在下文中一共展示了tf2_ros.ExtrapolationException方法的7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: convert_pose
# 需要导入模块: import tf2_ros [as 别名]
# 或者: from tf2_ros import ExtrapolationException [as 别名]
def convert_pose(pose, from_frame, to_frame):
"""
Convert a pose or transform between frames using tf.
pose -> A geometry_msgs.msg/Pose that defines the robots position and orientation in a reference_frame
from_frame -> A string that defines the original reference_frame of the robot
to_frame -> A string that defines the desired reference_frame of the robot to convert to
"""
global tfBuffer, listener
# Create Listener objet to recieve and buffer transformations
trans = None
try:
trans = tfBuffer.lookup_transform(to_frame, from_frame, rospy.Time(0), rospy.Duration(1.0))
except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException), e:
print(e)
rospy.logerr('FAILED TO GET TRANSFORM FROM %s to %s' % (to_frame, from_frame))
return None 示例2: convert_pose
# 需要导入模块: import tf2_ros [as 别名]
# 或者: from tf2_ros import ExtrapolationException [as 别名]
def convert_pose(pose, from_frame, to_frame):
"""
Convert a pose or transform between frames using tf.
pose -> A geometry_msgs.msg/Pose that defines the robots position and orientation in a reference_frame
from_frame -> A string that defines the original reference_frame of the robot
to_frame -> A string that defines the desired reference_frame of the robot to convert to
"""
global tfBuffer, listener
if tfBuffer is None or listener is None:
_init_tf()
try:
trans = tfBuffer.lookup_transform(to_frame, from_frame, rospy.Time(0), rospy.Duration(1.0))
except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException), e:
print(e)
rospy.logerr('FAILED TO GET TRANSFORM FROM %s to %s' % (to_frame, from_frame))
return None 示例3: _wait_for_transform_tf2
# 需要导入模块: import tf2_ros [as 别名]
# 或者: from tf2_ros import ExtrapolationException [as 别名]
def _wait_for_transform_tf2(self,
target_frame, source_frame,
time, timeout):
try:
ret = self.tf_listener.can_transform(
target_frame, source_frame, time, timeout, True)
if ret[0] > 0:
return True
else:
raise Exception(ret[1])
except (tf2_ros.LookupException,
tf2_ros.ConnectivityException,
tf2_ros.ExtrapolationException,
tf2_ros.TransformException,
rospy.exceptions.ROSTimeMovedBackwardsException):
return False 示例4: _lookup_transform_tf1
# 需要导入模块: import tf2_ros [as 别名]
# 或者: from tf2_ros import ExtrapolationException [as 别名]
def _lookup_transform_tf1(self, target_frame, source_frame, time, timeout):
self._wait_for_transform_tf1(target_frame, source_frame, time, timeout)
try:
res = self.tf_listener.lookupTransform(
target_frame, source_frame, time)
if time.is_zero():
time = self.tf_listener.getLatestCommonTime(
target_frame, source_frame)
except (tf.LookupException,
tf.ConnectivityException,
tf.ExtrapolationException,
rospy.exceptions.ROSTimeMovedBackwardsException):
return False
ret = geometry_msgs.msg.TransformStamped()
ret.header.frame_id = target_frame
ret.header.stamp = time
ret.child_frame_id = source_frame
ret.transform.translation.x = res[0][0]
ret.transform.translation.y = res[0][1]
ret.transform.translation.z = res[0][2]
ret.transform.rotation.x = res[1][0]
ret.transform.rotation.y = res[1][1]
ret.transform.rotation.z = res[1][2]
ret.transform.rotation.w = res[1][3]
return ret 示例5: run
# 需要导入模块: import tf2_ros [as 别名]
# 或者: from tf2_ros import ExtrapolationException [as 别名]
def run(self):
msg_count = 0
try:
bag = rosbag.Bag(self.bagfile, mode='a' if self.append else 'w')
rate = rospy.Rate(self.lookup_frequency)
last_stamp = rospy.Time()
while not rospy.is_shutdown():
try:
transform = self.tf_buffer.lookup_transform(
self.parent_frame, self.child_frame, rospy.Time())
rate.sleep()
except (tf2_ros.LookupException, tf2_ros.ConnectivityException,
tf2_ros.ExtrapolationException):
rate.sleep()
continue
if last_stamp == transform.header.stamp:
continue
pose = transformstamped_to_posestamped(transform)
bag.write(self.output_topic, pose, t=pose.header.stamp)
msg_count += 1
last_stamp = transform.header.stamp
rospy.loginfo_throttle(
10, "Recorded {} PoseStamped messages.".format(msg_count))
except rospy.ROSInterruptException:
pass
finally:
bag.close()
rospy.loginfo("Finished recording.") 示例6: _wait_for_transform_tf1
# 需要导入模块: import tf2_ros [as 别名]
# 或者: from tf2_ros import ExtrapolationException [as 别名]
def _wait_for_transform_tf1(self,
target_frame, source_frame,
time, timeout):
try:
self.tf_listener.waitForTransform(
target_frame, source_frame, time, timeout)
return True
except (tf.LookupException,
tf.ConnectivityException,
tf.ExtrapolationException,
rospy.exceptions.ROSTimeMovedBackwardsException):
return False 示例7: _lookup_transform_tf2
# 需要导入模块: import tf2_ros [as 别名]
# 或者: from tf2_ros import ExtrapolationException [as 别名]
def _lookup_transform_tf2(self, target_frame, source_frame, time, timeout):
try:
return self.tf_listener.lookup_transform(
target_frame, source_frame, time, timeout)
except (tf2_ros.LookupException,
tf2_ros.ConnectivityException,
tf2_ros.ExtrapolationException,
tf2_ros.TransformException,
rospy.exceptions.ROSTimeMovedBackwardsException):
return False