本文整理汇总了Python中sensor_msgs.msg.LaserScan类的典型用法代码示例。如果您正苦于以下问题：Python LaserScan类的具体用法？Python LaserScan怎么用？Python LaserScan使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。
在下文中一共展示了LaserScan类的20个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的Python代码示例。
示例1: merge_scans
def merge_scans(rf, sg):
rf.ranges = list(rf.ranges)
for i in range(40):
rf.ranges[len(rf.ranges)-i-1] = 0
if not sg:
rf.header.frame_id = 'laser'
return rf
else:
global angle_min
global angle_max
global angle_increment
global last_scan_time
if not last_scan_time:
last_scan_time = time.time()
scan = LaserScan()
scan.header.frame_id = 'laser'
scan.header.stamp = get_most_recent_timestamp(rf, sg)
scan.angle_min = angle_min
scan.angle_max = angle_max
scan.angle_increment = angle_increment
scan.scan_time = time.time() - last_scan_time
scan.time_increment = scan.scan_time / 541
scan.range_min = rf.range_min
scan.range_max = rf.range_max
scan.ranges = rf.ranges
for i in range(180*2):
if sg.ranges[i] < scan.ranges[90 + i] or scan.ranges[90 + i] == 0:
scan.ranges[90 + i] = sg.ranges[i]
return scan
开发者ID:clubcapra，项目名称:Ibex，代码行数:32，代码来源:laser_scan_merger.py
示例2: create_lidar_msg
def create_lidar_msg(lidar_string):
lidar_msg = LaserScan()
data = lidar_string.split(";")
#num_readings = 1440 --------------------------------
#data[0] = min angle (degrees)
#data[1] = max angle (degrees)
#data[2] = timestep (ms)
#data[3] = lidar scan array
#data[4] = min range
#data[5] = max range
#print data
lidar_msg.header = create_header() #self?
lidar_msg.angle_min = math.radians(float(data[0]))
lidar_msg.angle_max = math.radians(float(data[1]))
lidar_msg.angle_increment = math.radians(.25) #get from lidar
lidar_msg.time_increment = float(25. / self.num_readings) #time in ms / measurements YOYOYOYO CHECK THIS
lidar_msg.scan_time = float(data[2])
lidar_msg.range_min = float(data[4]) / 1000 #sent in mm, should be meters
lidar_msg.range_max = float(data[5]) / 1000 #sent in mm, should be meters
array_string = data[3].translate(None, '[]')
string_array = array_string.split(",")
lidar_msg.ranges = [float(r) / 1000 for r in string_array] #better way?
# string_array = data[3].strip("[").strip("]").split(",")
# string_array = data[3].split(",")
# try:
# lidar_msg.ranges = [float(r) for r in string_array]
# lidar_msg.intensities = []
# except ValueError:
# print "range vals failed"
return lidar_msg
开发者ID:mattjrush，项目名称:tankbot，代码行数:35，代码来源:lidar_pub_udp.py
示例3: callback
def callback(data):
n = int(rospy.get_param('~reduction', '2'))
pub=rospy.Publisher('/scan_reduced', LaserScan)
newScan=LaserScan()
newScan=data
newScan.angle_increment=n*data.angle_increment
newScan.ranges=data.ranges[1::n]
pub.publish(newScan)
开发者ID:QuentinLab，项目名称:QboStuff，代码行数:8，代码来源:laser_reducer.py
示例4: sonarsCallback
def sonarsCallback(self, event):
sonars = self.rh.sensors.getSonarsMeasurements()['sonars']
laser_msg = LaserScan()
laser_msg.ranges.append(sonars['front_right'])
laser_msg.ranges.append(sonars['front_left'])
laser_msg.range_max = 1.00
laser_msg.angle_increment = 0.785398185253
laser_msg.angle_min = -0.392699092627
self.pub.publish(laser_msg)
开发者ID:aspa1，项目名称:thesis，代码行数:9，代码来源:nao_interface.py
示例5: update
def update(self):
#############################################################################
now = rospy.Time.now()
if now > self.t_next:
elapsed = now - self.then
self.then = now
elapsed = elapsed.to_sec()
# this approximation works (in radians) for small angles
th = self.th - self.th_pre
self.dr = th / elapsed
# publish the odom information
quaternion = Quaternion()
quaternion.x = self.qx
quaternion.y = self.qy
quaternion.z = self.qz
quaternion.w = self.qw
self.odomBroadcaster.sendTransform(
(self.x, self.y, 0),
(0, 0, quaternion.z, quaternion.w),
rospy.Time.now(),
self.base_frame_id,
self.odom_frame_id,
)
self.laserBroadcaster.sendTransform(
(0, 0, 0), (0, 0, 0, 1), rospy.Time.now(), self.laser_frame_id, self.base_frame_id
)
odom = Odometry()
odom.header.stamp = now
odom.header.frame_id = self.odom_frame_id
odom.pose.pose.position.x = self.x
odom.pose.pose.position.y = self.y
odom.pose.pose.position.z = 0
odom.pose.pose.orientation = quaternion
odom.child_frame_id = self.base_frame_id
odom.twist.twist.linear.x = self.dx
odom.twist.twist.linear.y = 0
odom.twist.twist.angular.z = self.dr
self.odomPub.publish(odom)
laser = LaserScan()
laser.header.stamp = now
laser.header.frame_id = self.laser_frame_id
laser.angle_min = self.laser.angle_min
laser.angle_max = self.laser.angle_max
laser.angle_increment = self.laser.angle_increment
laser.time_increment = self.laser.time_increment
laser.scan_time = self.laser.scan_time
laser.range_min = self.laser.range_min
laser.range_max = self.laser.range_max
laser.ranges = self.laser.ranges
laser.intensities = self.laser.intensities
self.laserPub.publish(laser)
开发者ID:gaojun4ever，项目名称:mobile_robot，代码行数:56，代码来源:process.py
示例6: getLaserScan
def getLaserScan(frame_id, laser_scan_line):
# Timestamp [seconds.microseconds]
# # of ranges [unitless]
# Angular offset [1/4 degree]
# R1..R181 Ranges (zero padded to 181 ranges) [m]
#
# 1235603336.30835, 181, 0, 11.360, 11.360, 11.390, 11.410, 81.910, 81.910, 11.380, 11.400, 11.430, 6.450, 6.170, 6.030, 5.880, 5.740, 5.600, 5.470, 5.360, 5.370, 5.390, 5.430, 5.470, 5.500, 5.530, 5.580, 5.610, 5.410, 5.230, 5.130, 5.180, 5.230, 5.280, 5.350, 6.040, 6.110, 6.180, 6.250, 6.330, 6.400, 6.490, 5.950, 5.750, 5.640, 5.520, 5.440, 5.330, 5.220, 5.280, 5.040, 5.490, 5.590, 5.690, 5.810, 5.930, 6.080, 6.210, 6.360, 6.530, 6.690, 6.870, 13.930, 13.770, 13.650, 13.650, 13.530, 13.430, 13.300, 13.190, 13.040, 12.870, 12.780, 12.700, 12.630, 12.550, 12.480, 12.410, 12.360, 12.310, 12.240, 12.200, 12.150, 12.110, 12.070, 12.040, 12.010, 11.990, 11.970, 11.560, 11.930, 11.920, 11.920, 11.910, 11.930, 11.920, 11.920, 11.940, 11.930, 12.830, 12.840, 12.300, 12.130, 12.120, 13.000, 12.250, 12.230, 12.270, 12.330, 12.390, 12.440, 12.520, 12.580, 12.810, 13.640, 13.740, 13.830, 13.940, 13.640, 6.410, 6.220, 6.010, 5.810, 5.640, 5.080, 4.180, 4.090, 4.250, 4.070, 4.050, 3.700, 3.560, 3.510, 3.510, 3.570, 3.430, 3.520, 3.590, 4.940, 4.650, 4.630, 5.050, 5.040, 5.080, 4.890, 2.790, 2.710, 2.660, 2.620, 2.590, 2.600, 2.660, 2.650, 2.630, 2.690, 2.790, 2.900, 4.250, 4.150, 2.510, 2.480, 2.390, 2.360, 2.330, 2.320, 2.300, 2.410, 2.270, 3.930, 2.290, 2.390, 3.850, 3.830, 3.830, 3.710, 4.060, 4.050, 4.040, 4.030, 4.020, 4.010, 4.010, 4.010, 4.010
str_timestamp, str_num_readings, str_angular_offset, str_ranges = laser_scan_line.split(', ', 3)
num_readings = int(str_num_readings)
angular_offset = float(str_angular_offset)
ranges = map(float, str_ranges.split(', ')) #convert array of readings
laser_frequency = 50
angle_range_rad = 180 * np.pi / 180
#populate the LaserScan message
msg = LaserScan()
msg.header.stamp = rospy.Time.now()
msg.header.frame_id = frame_id
msg.angle_min = - (angle_range_rad / 2)
msg.angle_max = (angle_range_rad / 2)
msg.angle_increment = angle_range_rad / num_readings
msg.time_increment = (1 / laser_frequency) / (num_readings)
msg.range_min = 0.0
msg.range_max = 40.0
msg.ranges = ranges
msg.intensities = [0.0] * len(ranges)
return msg
开发者ID:rafaelbezerra-dev，项目名称:bicocca_gmapping，代码行数:28，代码来源:publisher.py
示例7: _processLaserscan
def _processLaserscan(self, readingType, remappedTimestamp, content):
# FIXME: For type ROBOTLASER, we should publish the robot/sensor pose using TF and use the correct TF frame
laserscan = LaserScan()
laserscan.header = Header(stamp=remappedTimestamp, frame_id="odom", seq=self._laserscanCounter)
if readingType.startswith("RAWLASER") or readingType.startswith("ROBOTLASER"):
laserscan.angle_min = float(content[1])
laserscan.angle_max = laserscan.angle_min + float(content[2])
laserscan.angle_increment = float(content[3])
laserscan.time_increment = 0
laserscan.scan_time = 0.0 # FIXME
laserscan.range_min = 0
laserscan.range_max = float(content[4])
numRanges = int(content[7])
for i in xrange(0, numRanges):
laserscan.ranges.append( float(content[8 + i]) )
numRemissions = int(content[8 + numRanges])
for i in xrange(0, numRemissions):
laserscan.intensities.append( float(content[9 + numRanges + i]) )
else:
rospy.logwarn("Unsupported laser of type %s in line %d" % (readingType, self._lineCounter) )
publisher = self._laserscanPublishers[ self._getLaserID(readingType, content) ]
publisher.publish(laserscan)
self._laserscanCounter += 1
开发者ID:Aharobot，项目名称:spencer_people_tracking，代码行数:28，代码来源:__init__.py
示例8: checker
def checker(fake_laser_param, realtime_lasers, nonrealtime_lasers):
r = rospy.Rate(RATE)
seq = 0
laser_scan = LaserScan()
laser_scan.header.seq = seq
laser_scan.header.frame_id = fake_laser_param['frame_name']
laser_scan.angle_min = fake_laser_param['angle_min']
laser_scan.angle_max = fake_laser_param['angle_max']
laser_scan.angle_increment = fake_laser_param['angle_increment']
laser_scan.range_min = fake_laser_param['range_min']
laser_scan.range_max = fake_laser_param['range_max']
laser_scan.scan_time = 0
laser_scan.time_increment = 0
pub = rospy.Publisher('/scan', LaserScan, queue_size=10)
while not rospy.is_shutdown():
fake_laser_data = realtime_lasers[0].get_range_data()
for laser_scanner in realtime_lasers[1:]:
new_laser_data = laser_scanner.get_range_data()
fake_laser_data = [min(r1, r2) for r1, r2 in zip(fake_laser_data, new_laser_data)]
for laser_scanner in nonrealtime_lasers:
laser_data = laser_scanner.get_range_data()
#fake_laser_data = [r1 if r1 < 1000 else min(r1, r2) for r1, r2 in zip(fake_laser_data, laser_data)]
fake_laser_data = [min(r1, r2) for r1, r2 in zip(fake_laser_data, laser_data)]
laser_scan.ranges = fake_laser_data
laser_scan.header.stamp = rospy.Time.now()
pub.publish(laser_scan)
seq += 1
r.sleep()
开发者ID:tinkerfuroc，项目名称:tk2_navigation，代码行数:28，代码来源:runfusion.py
示例9: prepare_laserscan_msg
def prepare_laserscan_msg(self):
'''
Fill laser scan message
'''
laser_scan_msg = LaserScan()
#Step 1:
num_readings = 100
laser_frequency = 40
ranges = []
intensities = []
count = 0
i = 0
#generate some fake data for laser scan
while (i < num_readings):
ranges.append(count)
intensities.append(4 + count)
i = i + 1
#Step 2
now = rospy.get_rostime()
laser_scan_msg.header.stamp = now
laser_scan_msg.header.frame_id = "laser_frame"
laser_scan_msg.angle_min = -1.57
laser_scan_msg.angle_max = 1.57
laser_scan_msg.angle_increment = 3.14 / num_readings
laser_scan_msg.time_increment = (1 / laser_frequency) / (num_readings)
laser_scan_msg.range_min = 0.0
laser_scan_msg.range_max = 4.0
laser_scan_msg.ranges = ranges
laser_scan_msg.intensities = intensities
开发者ID:Sohail-Mughal，项目名称:foundation_course2014_ws_ros，代码行数:33，代码来源:demo_class.py
示例10: create_laser_msg
def create_laser_msg(range_data_array):
ls = LaserScan()
ls.angle_increment = 0.006283185307179586 # 0.36 deg
ls.angle_max = 2.0943951023931953 # 120.0 deg
ls.angle_min = -2.0943951023931953 # -120.0 deg
ls.range_max = 4.0
ls.range_min = 0.02
ls.scan_time = 0.001 # No idea
ls.time_increment = 1.73611115315e-05 # No idea, took from http://comments.gmane.org/gmane.science.robotics.ros.user/5192
ls.header = Header()
ls.header.frame_id = 'laser_link'
ls.ranges = range_data_array
return ls
开发者ID:awesomebytes，项目名称:turtlebot_laser_work，代码行数:13，代码来源:laser_publisher.py
示例11: inputCallback
def inputCallback(self, msg):
#########################################################################
# rospy.loginfo("-D- range_filter inputCallback")
cur_val = msg.value
if cur_val <= self.max_valid and cur_val >= self.min_valid:
self.prev.append(cur_val)
del self.prev[0]
p = array(self.prev)
self.rolling_ave = p.mean()
self.rolling_std = p.std()
self.rolling_meters = ((self.b * self.rolling_ave) ** self.m) / 100
self.filtered_pub.publish( self.rolling_meters )
self.std_pub.publish( self.rolling_std )
rng = Range()
rng.radiation_type = 1
rng.min_range = self.min_range
rng.max_range = self.max_range
rng.range = self.rolling_meters
rng.header.frame_id = self.frame
rng.field_of_view = 0.1
rng.header.stamp = rospy.Time.now()
self.range_pub.publish( rng )
ranges = []
intensities = []
angle_start = 0.0 - self.field_of_view
angle_stop = self.field_of_view
for angle in linspace( angle_start, angle_stop, 10):
ranges.append( self.rolling_meters )
intensities.append( 1.0 )
scan = LaserScan()
scan.ranges = ranges
scan.header.frame_id = self.frame
scan.time_increment = 0;
scan.range_min = self.min_range
scan.range_max = self.max_range
scan.angle_min = angle_start
scan.angle_max = angle_stop
scan.angle_increment = (angle_stop - angle_start) / 10
scan.intensities = intensities
scan.scan_time = self.scan_time
scan.header.stamp = rospy.Time.now()
self.scan_pub.publish( scan )
开发者ID:jfstepha，项目名称:yertle-bot，代码行数:49，代码来源:int2range.py
示例12: publish_scan
def publish_scan(self, angles, ranges):
ls = LaserScan()
ls.header = Utils.make_header("laser", stamp=self.last_stamp)
ls.angle_min = np.min(angles)
ls.angle_max = np.max(angles)
ls.angle_increment = np.abs(angles[0] - angles[1])
ls.range_min = 0
ls.range_max = np.max(ranges)
ls.ranges = ranges
self.pub_fake_scan.publish(ls)
开发者ID:mikemwang，项目名称:obstacle，代码行数:10，代码来源:particle_filter.py
示例13: handle_scanner_msg
def handle_scanner_msg(self, args):
# Broadcast scanner transform first
time_now = rospy.Time.now()
pos = self.laser_tf.transform.translation
rot = self.laser_tf.transform.rotation
self.tf_broadcaster.sendTransform((pos.x, pos.y, pos.z),
(rot.x, rot.y, rot.z, rot.w),
time_now,
self.laser_tf.child_frame_id,
self.laser_tf.header.frame_id)
scan = LaserScan()
scan.header.stamp = time_now
scan.header.frame_id = self.base_laser_frame
for (name, par) in args.items():
if name == 'Range':
scan.ranges = [float(s) for s in par.split(',')]
if name == 'FOV':
fov = float(par)
scan.angle_min = -fov/2.0
scan.angle_max = fov/2.0
if name == 'Resolution':
scan.angle_increment = float(par)
scan.range_min = 0.0
scan.range_max = 20.0
self.scan_pub.publish(scan)
开发者ID:dmiklic，项目名称:usarros，代码行数:27，代码来源:diffdrive.py
示例14: Cb
def Cb(self, msg):
n_ranges = list()
pv = msg.data[0]
for i in range(50):
if pv>0.0 and msg.data[i]>0.0:
n_ranges.append((pv+msg.data[i])/2)
else:
n_ranges.append(0.0)
n_ranges.append(msg.data[i])
pv = msg.data[i]
laserMsg = LaserScan()
laserMsg.ranges = n_ranges
laserMsg.angle_increment = 0.2;
laserMsg.time_increment = 1/50
laserMsg.header.frame_id = '/ultra'
laserMsg.header.stamp = rospy.Time.now()
self.scanPub.publish(laserMsg)
开发者ID:tryexcept，项目名称:autonomousroverproject，代码行数:18，代码来源:convert.py
示例15: publish_laser_msg
def publish_laser_msg(self, ranges):
msg = LaserScan()
msg.angle_min = self.robot.laser.min_angle
msg.angle_max = self.robot.laser.max_angle
msg.angle_increment = self.robot.laser.resolution
msg.range_min = 0.0
msg.range_max = self.robot.laser.range
msg.ranges = ranges
msg.header.stamp = rospy.Time.now()
self.laser_publisher.publish(msg)
开发者ID:kam3k，项目名称:MSL-Simulator，代码行数:10，代码来源:controller.py
示例16: imu_serial
def imu_serial():
pub = rospy.Publisher('laser_scan', LaserScan)
rospy.init_node('imu_serial')
laser_msg = LaserScan()
laser_msg.header.frame_id = 'laser'
laser_msg.angle_min = -1.5
laser_msg.angle_max = 1.5
laser_msg.angle_increment = 0.1
laser_msg.time_increment = 0.1
laser_msg.scan_time = 0.1
laser_msg.range_min = 0.5
laser_msg.range_max = 1.5
laser_msg.ranges = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 9.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.1, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 5.0, 1.0]
laser_msg.intensities = laser_msg.ranges
r = rospy.Rate(100) # 10hz
while not rospy.is_shutdown():
laser_msg.header.stamp = rospy.get_rostime()
pub.publish(laser_msg)
r.sleep()
开发者ID:Jae-hyun，项目名称:imu_serial，代码行数:21，代码来源:imu_serial.py
示例17: build_constant_scan
def build_constant_scan(
range_val, intensity_val,
angle_min, angle_max, angle_increment, scan_time):
count = np.uint(np.ceil((angle_max - angle_min) / angle_increment))
if count < 0:
raise BuildScanException
scan = LaserScan()
scan.header.stamp = rospy.rostime.Time.from_sec(10.10)
scan.header.frame_id = "laser_frame"
scan.angle_min = angle_min
scan.angle_max = angle_max
scan.angle_increment = angle_increment
scan.scan_time = scan_time.to_sec()
scan.range_min = PROJECTION_TEST_RANGE_MIN
scan.range_max = PROJECTION_TEST_RANGE_MAX
scan.ranges = [range_val for _ in range(count)]
scan.intensities = [intensity_val for _ in range(count)]
scan.time_increment = scan_time.to_sec()/count
return scan
开发者ID:RafaelMarquesRodrigues，项目名称:SORS_Application，代码行数:21，代码来源:projection_test.py
示例18: _msg
def _msg(self, ranges, intensities, scan_time):
new_time = Time.now()
delta_time = new_time - self._last_time
self._last_time = new_time
msg = LaserScan()
msg.header.frame_id = self._frame_id
msg.header.stamp = Time.now()
msg.angle_max = self.__MAX_ANGLE
msg.angle_min = self.__MIN_ANGLE
msg.angle_increment = self.__ANGLE_INCREMENT
# Note: time_increment is the time between measurements, i.e. how often we read the scan and publish it (in
# seconds)
msg.time_increment = 0.1 #delta_time.secs
# Note: scan_time is the time between scans of the laser, i.e., the time it takes to read 360 degrees.
msg.scan_time = 0.1 # scan_time
msg.range_min = float(self._min_range)
msg.range_max = float(self._max_range)
msg.ranges = [min(max(range, msg.range_min), msg.range_max) for range in ranges]
msg.intensities = intensities
return msg
开发者ID:tslator，项目名称:arlobot_rpi，代码行数:22，代码来源:scan_sensor.py
示例19: create_lidar_msg
def create_lidar_msg(self, L):
raw_lidar = L.data
#stripped_lidar = raw_lidar.translate(None, '[]').translate(None, '"').translate(None, '\'')
array_lidar = raw_lidar.split(";")
lidar_msg = LaserScan()
lidar_msg.header = self.create_header() #self?
lidar_msg.angle_min = math.radians(float(array_lidar[0]))
lidar_msg.angle_max = math.radians(float(array_lidar[1]))
lidar_msg.angle_increment = math.radians(0.25) #MAKE PARAM
lidar_msg.time_increment = 0.025/(270*4) #time in ms / measurements YOYOYOYO CHECK THIS
lidar_msg.scan_time = float(array_lidar[2]) / 1000 #time in ms
lidar_msg.range_min = float(array_lidar[4]) / 1000 #sent in mm, should be meters
lidar_msg.range_max = float(array_lidar[5]) / 1000 #sent in mm, should be meters
array_string = array_lidar[3] #.translate(None, '[]')
string_array = array_string.split(",")
lidar_msg.ranges = [float(r) / 1000 for r in string_array] #better way?
self.scanPub.publish(lidar_msg)
开发者ID:mattjrush，项目名称:tankbot，代码行数:22，代码来源:lidar_pub.py
示例20: default
def default(self, ci='unused'):
laserscan = LaserScan()
laserscan.header = self.get_ros_header()
# Note: Scan time and laser frequency are chosen as standard values
laser_frequency = 40 # TODO ? component_instance.frequency()
scan_window = self.component_instance.bge_object['scan_window']
num_readings = scan_window / self.component_instance.bge_object['resolution']
laserscan.angle_max = scan_window * math.pi / 360
laserscan.angle_min = laserscan.angle_max * -1
laserscan.angle_increment = scan_window / num_readings * math.pi / 180
laserscan.time_increment = 1 / laser_frequency / num_readings
laserscan.scan_time = 1.0
laserscan.range_min = 0.3
laserscan.range_max = self.component_instance.bge_object['laser_range']
# ROS expect the ranges to be sorted clockwise.
# see morse.builder.sensor.LaserSensorWithArc.create_laser_arc
# where we create the ray from -window / 2.0 to +window / 2.0
laserscan.ranges = self.data['range_list']
self.publish(laserscan)
开发者ID:DAInamite，项目名称:morse，代码行数:22，代码来源:laserscanner.py
注：本文中的sensor_msgs.msg.LaserScan类示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。 |
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