draw_reachable_zones.py
Go to the documentation of this file.00001 #!/usr/bin/python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2009, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 # author: Kaijen Hsiao 00035 """ 00036 Draws latched-topic spheres around the pr2 shoulders to show distances to the wrist 00037 """ 00038 00039 import roslib 00040 roslib.load_manifest('pr2_marker_control') 00041 import rospy 00042 import object_manipulator.draw_functions 00043 import scipy 00044 00045 if __name__ == '__main__': 00046 rospy.init_node('draw_reachable_zones') 00047 marker_topic = "reachable_zones" 00048 rate = rospy.Rate(2.0) 00049 print 'drawing reachable zones' 00050 while not rospy.is_shutdown(): 00051 draw_functions = object_manipulator.draw_functions.DrawFunctions(marker_topic, latch=False) 00052 00053 #draw spheres at the shoulders 00054 #draw_functions.draw_rviz_sphere(scipy.matrix(scipy.identity(4)), 0.82, frame = 'l_shoulder_pan_link', ns = 'left_wrist', id = 0, duration = 0., color = [0,1,1], opaque = 0.2, frame_locked = True) 00055 #draw_functions.draw_rviz_sphere(scipy.matrix(scipy.identity(4)), 0.82, frame = 'r_shoulder_pan_link', ns = 'right_wrist', id = 0, duration = 0., color = [1,0,1], opaque = 0.2, frame_locked = True) 00056 00057 #draw horizontal circles at shoulder-level 00058 draw_functions.draw_rviz_circle(scipy.matrix(scipy.identity(4)), 0.82, frame = 'l_shoulder_pan_link', ns = 'left_wrist', id = 0, duration = 0, color = [0,1,1], opaque = 1, frame_locked = True) 00059 draw_functions.draw_rviz_circle(scipy.matrix(scipy.identity(4)), 0.82, frame = 'r_shoulder_pan_link', ns = 'right_wrist', id = 0, duration = 0, color = [1,0,1], opaque = 1, frame_locked = True) 00060 00061 rate.sleep()