68 lines
2.1 KiB
Python
Executable File
68 lines
2.1 KiB
Python
Executable File
#!/usr/bin/env python
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# Author: franz.albers@tu-dortmund.de
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import rospy, math, tf
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from costmap_converter.msg import ObstacleArrayMsg, ObstacleMsg
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from geometry_msgs.msg import PolygonStamped, Point32, QuaternionStamped, Quaternion, TwistWithCovariance
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from tf.transformations import quaternion_from_euler
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def publish_obstacle_msg():
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pub = rospy.Publisher('/test_optim_node/obstacles', ObstacleArrayMsg, queue_size=1)
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#pub = rospy.Publisher('/p3dx/move_base/TebLocalPlannerROS/obstacles', ObstacleArrayMsg, queue_size=1)
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rospy.init_node("test_obstacle_msg")
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y_0 = -3.0
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vel_x = 0.0
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vel_y = 0.3
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range_y = 6.0
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obstacle_msg = ObstacleArrayMsg()
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obstacle_msg.header.stamp = rospy.Time.now()
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obstacle_msg.header.frame_id = "map" # CHANGE HERE: odom/map
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# Add point obstacle
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obstacle_msg.obstacles.append(ObstacleMsg())
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obstacle_msg.obstacles[0].id = 99
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obstacle_msg.obstacles[0].polygon.points = [Point32()]
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obstacle_msg.obstacles[0].polygon.points[0].x = -1.5
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obstacle_msg.obstacles[0].polygon.points[0].y = 0
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obstacle_msg.obstacles[0].polygon.points[0].z = 0
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yaw = math.atan2(vel_y, vel_x)
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q = tf.transformations.quaternion_from_euler(0,0,yaw)
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obstacle_msg.obstacles[0].orientation = Quaternion(*q)
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obstacle_msg.obstacles[0].velocities.twist.linear.x = vel_x
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obstacle_msg.obstacles[0].velocities.twist.linear.y = vel_y
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obstacle_msg.obstacles[0].velocities.twist.linear.z = 0
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obstacle_msg.obstacles[0].velocities.twist.angular.x = 0
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obstacle_msg.obstacles[0].velocities.twist.angular.y = 0
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obstacle_msg.obstacles[0].velocities.twist.angular.z = 0
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r = rospy.Rate(10) # 10hz
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t = 0.0
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while not rospy.is_shutdown():
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# Vary y component of the point obstacle
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if (vel_y >= 0):
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obstacle_msg.obstacles[0].polygon.points[0].y = y_0 + (vel_y*t)%range_y
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else:
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obstacle_msg.obstacles[0].polygon.points[0].y = y_0 + (vel_y*t)%range_y - range_y
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t = t + 0.1
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pub.publish(obstacle_msg)
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r.sleep()
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if __name__ == '__main__':
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try:
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publish_obstacle_msg()
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except rospy.ROSInterruptException:
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pass
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