scans.py
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00001 #!/usr/bin/env python
00002 
00003 # Software License Agreement (BSD License)
00004 #
00005 # Copyright (c) 2008, Willow Garage, Inc.
00006 # All rights reserved.
00007 #
00008 # Redistribution and use in source and binary forms, with or without
00009 # modification, are permitted provided that the following conditions
00010 # are met:
00011 #
00012 #  * Redistributions of source code must retain the above copyright
00013 #    notice, this list of conditions and the following disclaimer.
00014 #  * Redistributions in binary form must reproduce the above
00015 #    copyright notice, this list of conditions and the following
00016 #    disclaimer in the documentation and/or other materials provided
00017 #    with the distribution.
00018 #  * Neither the name of Willow Garage, Inc. nor the names of its
00019 #    contributors may be used to endorse or promote products derived
00020 #    from this software without specific prior written permission.
00021 #
00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 # POSSIBILITY OF SUCH DAMAGE.
00034 #
00035 # Author: Bhaskara Marthi
00036 
00037 # Script to visualize saved scans
00038 
00039 
00040 import roslib
00041 roslib.load_manifest('flirtlib_ros')
00042 
00043 import sys
00044 import geometry_msgs.msg as gm
00045 import sensor_msgs.msg as sm
00046 import rospy
00047 import tf.transformations as trans
00048 from math import sin, cos
00049 import mongo_ros as mr
00050 import flirtlib_ros.msg as fm
00051 
00052 def scan2cloud(scan, pose):
00053     x0 = pose.position.x
00054     y0 = pose.position.y
00055     print "Angle is ", pose.orientation
00056     theta0 = trans.euler_from_quaternion([pose.orientation.x, pose.orientation.y,
00057                                         pose.orientation.z, pose.orientation.w])[2]
00058     print "Base pos is {0}, {1}, {2}".format(x0, y0, theta0)
00059     cloud = sm.PointCloud()
00060     cloud.header.frame_id='/map'
00061     cloud.header.stamp = rospy.Time.now()
00062     cloud.points = []
00063     for i, r in enumerate(scan.ranges):
00064         theta = theta0 + scan.angle_min + i*scan.angle_increment 
00065         p = gm.Point32(x0+cos(theta)*r, y0+sin(theta)*r, 0)
00066         cloud.points.append(p)
00067 
00068     return cloud
00069 
00070 
00071 def main():
00072     rospy.init_node('test_scan')
00073     c=mr.MessageCollection('flirtlib_place_rec', 'scans', fm.RefScanRos,
00074                            db_host='mongo.willowgarage.com')
00075     l = list(c.query({}))
00076     if len(sys.argv!=2):
00077         print "Usage: {0} SCAN_NUM".format(sys.argv[0])
00078     i = int(sys.argv[1])
00079     print "Visualizing scan ", i
00080     msg = l[i][0]
00081     cl = scan2cloud(msg.scan, msg.pose)
00082     pub = rospy.Publisher('saved_cloud', sm.PointCloud, latch=True)
00083     pub.publish(cl)
00084     rospy.spin()
00085 
00086 if __name__=='__main__':
00087     sys.exit(main())
00088 
00089 
00090 


flirtlib_ros
Author(s): Bhaskara Marthi
autogenerated on Thu Nov 28 2013 11:21:50