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0.18.3: added apriltags2 support (input topic: tag_detections)

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matlabbe
2018-12-07 18:31:59 -05:00
parent 1559d9ba8e
commit 9ad434e27b
14 changed files with 379 additions and 169 deletions
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scripts/patrol.py
+29 -10
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@@ -7,54 +7,73 @@ from rtabmap_ros.msg import Goal
pub = rospy.Publisher('/rtabmap/goal_node', Goal, queue_size=1)
waypoints = []
currentIndex = 0
waitingTime = 1.0
def callback(data):
global currentIndex
global waitingTime
if data.data:
rospy.loginfo(rospy.get_caller_id() + "Goal '%s' reached! Publishing next goal in 1 sec...", waypoints[currentIndex])
rospy.loginfo(rospy.get_caller_id() + ": Goal '%s' reached! Publishing next goal in %.1f sec...", waypoints[currentIndex], waitingTime)
else:
rospy.loginfo(rospy.get_caller_id() + "Goal '%s' failed! Publishing next goal in 1 sec...", waypoints[currentIndex])
rospy.loginfo(rospy.get_caller_id() + ": Goal '%s' failed! Publishing next goal in %.1f sec...", waypoints[currentIndex], waitingTime)
currentIndex = (currentIndex+1) % len(waypoints)
rospy.sleep(1.)
# Waiting time before sending next goal
rospy.sleep(waitingTime)
msg = Goal()
if waypoints[currentIndex].isdigit():
try:
int(waypoints[currentIndex])
is_dig = True
except ValueError:
is_dig = False
if is_dig:
msg.node_id = int(waypoints[currentIndex])
msg.node_label = ""
else:
msg.node_id = 0
msg.node_label = waypoints[currentIndex]
rospy.loginfo(rospy.get_caller_id() + ": Publishing goal '%s'! (%d/%d)", waypoints[currentIndex], currentIndex+1, len(waypoints))
msg.header.stamp = rospy.get_rostime()
rospy.loginfo("Publishing goal '%s'! (%d/%d)", waypoints[currentIndex], currentIndex+1, len(waypoints))
pub.publish(msg)
def main():
rospy.init_node('patrol', anonymous=False)
rospy.Subscriber("/rtabmap/goal_reached", Bool, callback)
global waitingTime
waitingTime = rospy.get_param('~time', waitingTime)
rospy.sleep(1.) # make sure that subscribers have seen this node before sending a goal
rospy.loginfo(rospy.get_caller_id() + ": Waypoints: [%s]", str(waypoints).strip('[]'))
rospy.loginfo(rospy.get_caller_id() + ": time: %f", waitingTime)
# send the first goal
msg = Goal()
if waypoints[currentIndex].isdigit():
try:
int(waypoints[currentIndex])
is_dig = True
except ValueError:
is_dig = False
if is_dig:
msg.node_id = int(waypoints[currentIndex])
msg.node_label = ""
else:
msg.node_id = 0
msg.node_label = waypoints[currentIndex]
while rospy.Time.now().secs == 0:
rospy.loginfo("Waiting clock...")
rospy.loginfo(rospy.get_caller_id() + ": Waiting clock...")
rospy.sleep(.1)
msg.header.stamp = rospy.Time.now()
rospy.loginfo("Publishing goal '%s'! (%d/%d)", waypoints[currentIndex], currentIndex+1, len(waypoints))
rospy.loginfo(rospy.get_caller_id() + ": Publishing goal '%s'! (%d/%d)", waypoints[currentIndex], currentIndex+1, len(waypoints))
pub.publish(msg)
rospy.spin()
if __name__ == '__main__':
if len(sys.argv) < 3:
print("usage: patrol.py waypointA waypointB waypointC ... (at least 2 waypoints, can be node id or label)")
print("usage: patrol.py waypointA waypointB waypointC ... [_time:=1] [topic remaps] (at least 2 waypoints, can be node id, landmark or label)")
else:
waypoints = sys.argv[1:]
rospy.loginfo("Waypoints: [%s]", str(waypoints).strip('[]'))
waypoints = [x for x in waypoints if not x.startswith('/') and not x.startswith('_')]
main()