display_3D_visualization.py

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#!/usr/bin/env python

# Copyright (c) 2012, Tang Tiong Yew
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import roslib; roslib.load_manifest('razor_imu_9dof')
import rospy

from visual import *
import serial
import string
import math

from time import time
from sensor_msgs.msg import Imu
from razor_imu_9dof.msg import RazorImu

grad2rad = 3.141592/180.0


# Main scene
scene=display(title="9DOF Razor IMU Main Screen")
scene.range=(1.2,1.2,1.2)
#scene.forward = (0,-1,-0.25)
scene.forward = (1,0,-0.25)
scene.up=(0,0,1)

# Second scene (Roll, Pitch, Yaw)
scene2 = display(title='Second Screen',x=0, y=0, width=500, height=200,center=(0,0,0), background=(0,0,0))
scene2.range=(1,1,1)
scene.width=500
scene.height=500
scene.y=200

scene2.select()
#Roll, Pitch, Yaw
cil_roll = cylinder(pos=(-0.4,0,0),axis=(0.2,0,0),radius=0.01,color=color.red)
cil_roll2 = cylinder(pos=(-0.4,0,0),axis=(-0.2,0,0),radius=0.01,color=color.red)
cil_pitch = cylinder(pos=(0.1,0,0),axis=(0.2,0,0),radius=0.01,color=color.green)
cil_pitch2 = cylinder(pos=(0.1,0,0),axis=(-0.2,0,0),radius=0.01,color=color.green)
#cil_course = cylinder(pos=(0.6,0,0),axis=(0.2,0,0),radius=0.01,color=color.blue)
#cil_course2 = cylinder(pos=(0.6,0,0),axis=(-0.2,0,0),radius=0.01,color=color.blue)
arrow_course = arrow(pos=(0.6,0,0),color=color.cyan,axis=(-0.2,0,0), shaftwidth=0.02, fixedwidth=1)

#Roll,Pitch,Yaw labels
label(pos=(-0.4,0.3,0),text="Roll",box=0,opacity=0)
label(pos=(0.1,0.3,0),text="Pitch",box=0,opacity=0)
label(pos=(0.55,0.3,0),text="Yaw",box=0,opacity=0)
label(pos=(0.6,0.22,0),text="N",box=0,opacity=0,color=color.yellow)
label(pos=(0.6,-0.22,0),text="S",box=0,opacity=0,color=color.yellow)
label(pos=(0.38,0,0),text="W",box=0,opacity=0,color=color.yellow)
label(pos=(0.82,0,0),text="E",box=0,opacity=0,color=color.yellow)
label(pos=(0.75,0.15,0),height=7,text="NE",box=0,color=color.yellow)
label(pos=(0.45,0.15,0),height=7,text="NW",box=0,color=color.yellow)
label(pos=(0.75,-0.15,0),height=7,text="SE",box=0,color=color.yellow)
label(pos=(0.45,-0.15,0),height=7,text="SW",box=0,color=color.yellow)

L1 = label(pos=(-0.4,0.22,0),text="-",box=0,opacity=0)
L2 = label(pos=(0.1,0.22,0),text="-",box=0,opacity=0)
L3 = label(pos=(0.7,0.3,0),text="-",box=0,opacity=0)

# Main scene objects
scene.select()
# Reference axis (x,y,z)
arrow(color=color.green,axis=(1,0,0), shaftwidth=0.02, fixedwidth=1)
arrow(color=color.green,axis=(0,-1,0), shaftwidth=0.02 , fixedwidth=1)
arrow(color=color.green,axis=(0,0,-1), shaftwidth=0.02, fixedwidth=1)
# labels
label(pos=(0,0,0.8),text="9DOF Razor IMU test",box=0,opacity=0)
label(pos=(1,0,0),text="X",box=0,opacity=0)
label(pos=(0,-1,0),text="Y",box=0,opacity=0)
label(pos=(0,0,-1),text="Z",box=0,opacity=0)
# IMU object
platform = box(length=1, height=0.05, width=1, color=color.red)
p_line = box(length=1,height=0.08,width=0.1,color=color.yellow)
plat_arrow = arrow(color=color.cyan,axis=(1,0,0), shaftwidth=0.06, fixedwidth=1)


rospy.init_node("display_3D_visualization_node")

def processIMU_message(rawMsg):
    roll=0
    pitch=0
    yaw=0

    roll = rawMsg.roll
    pitch = rawMsg.pitch
    yaw = rawMsg.yaw
    
    axis=(cos(pitch)*cos(yaw),-cos(pitch)*sin(yaw),sin(pitch)) 
    up=(sin(roll)*sin(yaw)+cos(roll)*sin(pitch)*cos(yaw),sin(roll)*cos(yaw)-cos(roll)*sin(pitch)*sin(yaw),-cos(roll)*cos(pitch))
    platform.axis=axis
    platform.up=up
    platform.length=1.0
    platform.width=0.65
    plat_arrow.axis=axis
    plat_arrow.up=up
    plat_arrow.length=-0.8
    p_line.axis=axis
    p_line.up=up
    cil_roll.axis=(0.2*cos(roll),0.2*sin(roll),0)
    cil_roll2.axis=(-0.2*cos(roll),-0.2*sin(roll),0)
    cil_pitch.axis=(0.2*cos(pitch),0.2*sin(pitch),0)
    cil_pitch2.axis=(-0.2*cos(pitch),-0.2*sin(pitch),0)
    arrow_course.axis=(0.2*sin(yaw),0.2*cos(yaw),0)
    L1.text = str(roll)
    L2.text = str(pitch)
    L3.text = str(yaw)


sub = rospy.Subscriber('imuRaw', RazorImu, processIMU_message)