sphere_viz.py

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#! /usr/bin/python3

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# Author: Blaise Gassend

# Reads fingertip pressure data from /pressure and publishes it as a
# visualization_marker

import roslib
roslib.load_manifest('fingertip_pressure')
import rospy
import threading

from fingertip_pressure.msg import PressureInfo, PressureInfoElement
from pr2_msgs.msg import PressureState
from visualization_msgs.msg import Marker
from fingertip_pressure.colormap import color
from geometry_msgs.msg import Vector3

positions = [ # x, y, z, xscale, yscale, zscale 
        ( 0.026, 0.007, 0.000, 0.010, 0.010, 0.015),
        ( 0.010, 0.010,-0.008, 0.030, 0.010, 0.010), 
        ( 0.025, 0.010,-0.008, 0.010, 0.010, 0.010), 
        ( 0.030, 0.010,-0.004, 0.010, 0.010, 0.010), 
        ( 0.030, 0.010, 0.004, 0.010, 0.010, 0.010), 
        ( 0.025, 0.010, 0.008, 0.010, 0.010, 0.010), 
        ( 0.010, 0.010, 0.008, 0.030, 0.010, 0.010),
        ( 0.025, 0.012,-0.006, 0.010, 0.010, 0.010),
        ( 0.025, 0.012, 0.000, 0.010, 0.010, 0.010),
        ( 0.025, 0.012, 0.006, 0.010, 0.010, 0.010),
        ( 0.019, 0.012,-0.006, 0.010, 0.010, 0.010),
        ( 0.019, 0.012, 0.000, 0.010, 0.010, 0.010),
        ( 0.019, 0.012, 0.006, 0.010, 0.010, 0.010),
        ( 0.013, 0.012,-0.006, 0.010, 0.010, 0.010),
        ( 0.013, 0.012, 0.000, 0.010, 0.010, 0.010),
        ( 0.013, 0.012, 0.006, 0.010, 0.010, 0.010),
        ( 0.007, 0.012,-0.006, 0.010, 0.010, 0.010),
        ( 0.007, 0.012, 0.000, 0.010, 0.010, 0.010),
        ( 0.007, 0.012, 0.006, 0.010, 0.010, 0.010),
        ( 0.001, 0.012,-0.006, 0.010, 0.010, 0.010),
        ( 0.001, 0.012, 0.000, 0.010, 0.010, 0.010),
        ( 0.001, 0.012, 0.006, 0.010, 0.010, 0.010),
        ]
numsensors = len(positions);

class pressureVisualizer:
    def info_callback(self, info):
        self.lock.acquire()
        self.frame = []
        self.center = []
        self.hside1 = []
        self.hside2 = []
        for i in [0, 1]:
            self.frame.append(info.sensor[i].frame_id)
            self.center.append(info.sensor[i].center)
            self.hside1.append(info.sensor[i].halfside1)
            self.hside2.append(info.sensor[i].halfside2)
        self.got_info = True
        self.lock.release()
        #print "callback"

    def callback(self, pressurestate):
        self.lock.acquire()
        #print "callback"
        self.l_finger_tip = pressurestate.l_finger_tip
        self.r_finger_tip = pressurestate.r_finger_tip
        self.datatimestamp = pressurestate.header.stamp
        self.dataready = True
        self.lock.release()

    def publish(self):
        if self.dataready and self.got_info:
            self.lock.acquire()
            #print 'publish'
            self.dataready = False
            self.makeVisualization(self.l_finger_tip, 0, -1)
            self.makeVisualization(self.r_finger_tip, 1, 1)
            self.lock.release()

    def makeVisualization(self, data, tipnum, ydir):
        mk = Marker()
        mk.header.frame_id = self.frame[tipnum]
        mk.header.stamp = self.datatimestamp
        mk.ns = mk.header.frame_id + "/sphere"
        mk.type = Marker.SPHERE
        mk.action = Marker.ADD
        #mk.lifetime = rospy.Duration(1)
        mk.points = []
        #for i in range(0,1):
        for i in range(0,numsensors):
            mk.id = i
            (mk.pose.position.x, mk.pose.position.y, mk.pose.position.z, mk.scale.x, mk.scale.y, mk.scale.z) = positions[i]
            mk.pose.position.y = mk.pose.position.y * ydir
            mk.pose.position.z = mk.pose.position.z * ydir
            #mk.pose.position = Vector3()
            #mk.pose.position.x = self.center[tipnum][i].x
            #mk.pose.position.y = self.center[tipnum][i].y
            #mk.pose.position.z = self.center[tipnum][i].z
            mk.pose.orientation.w = 1.0
            mk.color.a = 1.0
            (mk.color.r, mk.color.g, mk.color.b) = color(data[i] / 6000.)
            #print "%f %f %f"%(mk.color.r, mk.color.g, mk.color.b)
            self.vis_pub.publish(mk)

    def __init__(self, source):
        self.got_info = False;
        self.dataready = False
        self.lock = threading.Lock()

        self.vis_pub = rospy.Publisher('visualization_marker', Marker, queue_size=1000)
        rospy.Subscriber(source, PressureState, self.callback)
        rospy.Subscriber(source + "_info", PressureInfo, self.info_callback)
        


if __name__ == '__main__':
    #@todo it would be nice to read an xml configuration file to get these parameters.
    rospy.init_node('pressure_rectangle_viz')
    rospy.sleep(.2)
        
    pv1 = pressureVisualizer('pressure/r_gripper_motor')
    pv2 = pressureVisualizer('pressure/l_gripper_motor')
    
    while not rospy.is_shutdown():
        rospy.sleep(0.09)
        pv1.publish()
        pv2.publish()