simulated_range_sensors.py

Go to the documentation of this file.

#!/usr/bin/env python
import roslib; roslib.load_manifest('cob_phidgets')
import rospy
import math
from geometry_msgs.msg import *
from sensor_msgs.msg import *

class GazeboVirtualRangeSensor():
        
        def __init__(self, laser_topic, range_topic):           
                rospy.Subscriber(laser_topic, LaserScan, self.laser_callback)
#               rospy.logdebug("subscribed to laser topic: %s", laser_topic)
                self.pub = rospy.Publisher(range_topic, Range)
#               rospy.loginfo("topic '" + range_topic + "' advertised")
                rospy.loginfo("adding sensor converting from topic '" + laser_topic + "' to topic '" + range_topic + "'")

        def laser_callback(self, msg):
                sensor_range = Range()
        
                # set header
                sensor_range.header = msg.header
                
                # set range from average out of laser message
                if len(msg.ranges) > 0:
                        sensor_range.range = sum(msg.ranges)/len(msg.ranges)
                else:
                        sensor_range.range = 0
                
                # set min and max range
                sensor_range.min_range = msg.range_min
                sensor_range.max_range = msg.range_max
                
                # set field of view
                sensor_range.field_of_view = msg.angle_max - msg.angle_min
                
                # set radiation type to IR (=1)
                sensor_range.radiation_type = 1
                
                # publish range
                self.pub.publish(sensor_range)

if __name__ == "__main__":
        rospy.init_node('tactile_sensors')
        rospy.sleep(0.5)
        
        if not rospy.has_param('~sensors'):
                rospy.logerr("no sensors specified")
                exit(1)

        sensors = rospy.get_param('~sensors')
        
        if type(sensors) != list:
                rospy.logerr("sensors parameter not a list")
                exit(1)

        for sensor in sensors:
                GazeboVirtualRangeSensor(sensor['laser_topic'], sensor['range_topic'])

        rospy.spin()