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https://github.com/introlab/rtabmap_ros.git
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47 lines
1.8 KiB
Python
Executable File
47 lines
1.8 KiB
Python
Executable File
#!/usr/bin/env python
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import rospy
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import tf
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import numpy
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import tf2_ros
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from geometry_msgs.msg import PoseWithCovarianceStamped
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if __name__ == '__main__':
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rospy.init_node('tf_to_pose', anonymous=True)
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listener = tf.TransformListener()
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frame = rospy.get_param('~frame', 'world')
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childFrame = rospy.get_param('~child_frame', 'kinect_gt')
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outputFrame = rospy.get_param('~output_frame', 'kinect')
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cov = rospy.get_param('~cov', 1)
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rateParam = rospy.get_param('~rate', 30) # 10hz
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pub = rospy.Publisher('global_pose', PoseWithCovarianceStamped, queue_size=1)
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print 'start loop!'
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rate = rospy.Rate(rateParam)
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while not rospy.is_shutdown():
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poseOut = PoseWithCovarianceStamped()
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try:
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now = rospy.get_rostime()
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listener.waitForTransform(frame, childFrame, now, rospy.Duration(0.033))
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(trans,rot) = listener.lookupTransform(frame, childFrame, now)
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except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException, tf2_ros.TransformException), e:
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print str(e)
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rate.sleep()
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continue
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poseOut.header.stamp.nsecs = now.nsecs
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poseOut.header.stamp.secs = now.secs
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poseOut.header.frame_id = outputFrame
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poseOut.pose.pose.position.x = trans[0]
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poseOut.pose.pose.position.y = trans[1]
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poseOut.pose.pose.position.z = trans[2]
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poseOut.pose.pose.orientation.x = rot[0]
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poseOut.pose.pose.orientation.y = rot[1]
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poseOut.pose.pose.orientation.z = rot[2]
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poseOut.pose.pose.orientation.w = rot[3]
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poseOut.pose.covariance = (cov * numpy.eye(6, dtype=numpy.float64)).tolist()
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poseOut.pose.covariance = [item for sublist in poseOut.pose.covariance for item in sublist]
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print str(poseOut)
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pub.publish(poseOut)
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rate.sleep()
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