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55 lines
1.4 KiB
Python
Executable File
55 lines
1.4 KiB
Python
Executable File
#!/usr/bin/env python
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import rospy
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import tf
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from tf2_msgs.msg import TFMessage
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from gazebo_msgs.msg import LinkStates
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from geometry_msgs.msg import TransformStamped
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target_frame_id = ""
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def callBack(linkStates):
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global delta, first
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found = False
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for i in range(len(linkStates.name)):
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if linkStates.name[i] == gazebo_frame_id:
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p = linkStates.pose[i]
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found = True
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break
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if not found:
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roslog.warn("Gazebo link state \"" + gazebo_frame_id +"\" not found, cannot generate ground truth.")
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return
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t = TransformStamped()
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t.header.frame_id = frame_id
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t.header.stamp = rospy.Time.now()
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t.child_frame_id = child_frame_id
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t.transform.translation.x = p.position.x
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t.transform.translation.y = p.position.y
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t.transform.translation.z = p.position.z
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t.transform.rotation.x = p.orientation.x
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t.transform.rotation.y = p.orientation.y
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t.transform.rotation.z = p.orientation.z
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t.transform.rotation.w = p.orientation.w
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tf_pub.publish(TFMessage([t]))
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if __name__ == '__main__':
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rospy.init_node('generate_gazebo_ground_truth', disable_signals=True)
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frame_id = rospy.get_param('~frame_id', 'world')
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child_frame_id = rospy.get_param('~child_frame_id', 'base_link_gt')
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gazebo_frame_id = rospy.get_param('~gazebo_frame_id', 'base_link')
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gazebo_sub = rospy.Subscriber('/gazebo/link_states', LinkStates, callBack)
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tf_pub = rospy.Publisher('/tf', TFMessage, queue_size=10)
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tf.TransformBroadcaster()
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rospy.spin()
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