git commit -m "first commit"

navigations/teb_local_planner/scripts/publish_test_obstacles.py

@@ -0,0 +1,76 @@
+#!/usr/bin/env python
+
+# Author: christoph.roesmann@tu-dortmund.de
+
+import rospy, math
+from costmap_converter.msg import ObstacleArrayMsg, ObstacleMsg
+from geometry_msgs.msg import PolygonStamped, Point32
+
+
+def publish_obstacle_msg():
+  pub = rospy.Publisher('/test_optim_node/obstacles', ObstacleArrayMsg, queue_size=1)
+  #pub = rospy.Publisher('/p3dx/move_base/TebLocalPlannerROS/obstacles', ObstacleArrayMsg, queue_size=1)
+  rospy.init_node("test_obstacle_msg")
+
+
+  obstacle_msg = ObstacleArrayMsg() 
+  obstacle_msg.header.stamp = rospy.Time.now()
+  obstacle_msg.header.frame_id = "odom" # CHANGE HERE: odom/map
+  
+  # Add point obstacle
+  obstacle_msg.obstacles.append(ObstacleMsg())
+  obstacle_msg.obstacles[0].id = 0
+  obstacle_msg.obstacles[0].polygon.points = [Point32()]
+  obstacle_msg.obstacles[0].polygon.points[0].x = 1.5
+  obstacle_msg.obstacles[0].polygon.points[0].y = 0
+  obstacle_msg.obstacles[0].polygon.points[0].z = 0
+
+
+  # Add line obstacle
+  obstacle_msg.obstacles.append(ObstacleMsg())
+  obstacle_msg.obstacles[1].id = 1
+  line_start = Point32()
+  line_start.x = -2.5
+  line_start.y = 0.5
+  #line_start.y = -3
+  line_end = Point32()
+  line_end.x = -2.5
+  line_end.y = 2
+  #line_end.y = -4
+  obstacle_msg.obstacles[1].polygon.points = [line_start, line_end]
+  
+  # Add polygon obstacle
+  obstacle_msg.obstacles.append(ObstacleMsg())
+  obstacle_msg.obstacles[1].id = 2
+  v1 = Point32()
+  v1.x = -1
+  v1.y = -1
+  v2 = Point32()
+  v2.x = -0.5
+  v2.y = -1.5
+  v3 = Point32()
+  v3.x = 0
+  v3.y = -1
+  obstacle_msg.obstacles[2].polygon.points = [v1, v2, v3]
+  
+
+  r = rospy.Rate(10) # 10hz
+  t = 0.0
+  while not rospy.is_shutdown():
+    
+    # Vary y component of the point obstacle
+    obstacle_msg.obstacles[0].polygon.points[0].y = 1*math.sin(t)
+    t = t + 0.1
+    
+    pub.publish(obstacle_msg)
+    
+    r.sleep()
+
+
+
+if __name__ == '__main__': 
+  try:
+    publish_obstacle_msg()
+  except rospy.ROSInterruptException:
+    pass
+