├── src └── rviz_tools_py │ ├── __init__.py │ └── rviz_tools.py ├── demo_markers1.png ├── meshes ├── box_mesh.stl ├── fuze_bottle_visual_0.jpg ├── fuze_bottle_collision.stl └── fuze_bottle_visual.dae ├── CMakeLists.txt ├── setup.py ├── package.xml ├── README.md └── example └── demo.py /src/rviz_tools_py/__init__.py: -------------------------------------------------------------------------------- 1 | from rviz_tools import RvizMarkers 2 | -------------------------------------------------------------------------------- /demo_markers1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DavidB-CMU/rviz_tools_py/HEAD/demo_markers1.png -------------------------------------------------------------------------------- /meshes/box_mesh.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DavidB-CMU/rviz_tools_py/HEAD/meshes/box_mesh.stl -------------------------------------------------------------------------------- /meshes/fuze_bottle_visual_0.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DavidB-CMU/rviz_tools_py/HEAD/meshes/fuze_bottle_visual_0.jpg -------------------------------------------------------------------------------- /meshes/fuze_bottle_collision.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DavidB-CMU/rviz_tools_py/HEAD/meshes/fuze_bottle_collision.stl -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(rviz_tools_py) 3 | 4 | find_package(catkin REQUIRED 5 | rospy 6 | geometry_msgs 7 | visualization_msgs 8 | tf 9 | ) 10 | 11 | catkin_package() 12 | catkin_python_setup() 13 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | d = generate_distutils_setup( 7 | packages=[ 8 | 'rviz_tools_py', 9 | ], 10 | package_dir={'': 'src'}, 11 | ) 12 | setup(**d) 13 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | rviz_tools_py 4 | 0.1.0 5 | Rviz Tools for python 6 | David Butterworth 7 | BSD 8 | 9 | catkin 10 | 11 | geometry_msgs 12 | rospy 13 | visualization_msgs 14 | tf 15 | rospkg 16 | 17 | geometry_msgs 18 | rospy 19 | visualization_msgs 20 | tf 21 | rospkg 22 | 23 | 24 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | ## Rviz Tools for python 2 | 3 | Some useful tools for using ROS Rviz with python. 4 | Currently this package contains some functions that make it easy to publish Rviz Markers in a pythonic way. 5 | 6 | Python code by David Butterworth. 7 | Based on Dave Coleman's C++ library [RvizVisualTools](https://github.com/davetcoleman/rviz_visual_tools) 8 | 9 | This package been tested on Ubuntu 14.04 with ROS Indigo. 10 | 11 | 12 | **Usage examples:** 13 | 14 | The normal way to publish an Rviz Marker is by setting its properties using ROS message types: 15 | ``` 16 | P = Pose(Point(0,0,0),Quaternion(0,0,0,1)) 17 | scale = Vector3(1.1,0.2,0.8) 18 | markers.publishCube(P, 'red', scale) 19 | ``` 20 | 21 | Alternatively you can publish a Marker using a numpy matrix, with parameters specified as floats, tuples and lists: 22 | ``` 23 | T = transformations.translation_matrix((1,1,1)) 24 | rgb_color = [0,1,0] 25 | cube_width = 0.5 26 | markers.publishCube(T, rgb_color, cube_width) 27 | ``` 28 | 29 | 30 | **Demo:** 31 | 32 | To run the example code: 33 | ``` 34 | $ rosrun rviz_tools_py demo.py 35 | ``` 36 | 37 | ![Demo markers](https://raw.github.com/DavidB-CMU/rviz_tools_py/master/demo_markers1.png) 38 | -------------------------------------------------------------------------------- /example/demo.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | # Copyright (c) 2015, Carnegie Mellon University 4 | # All rights reserved. 5 | # Authors: David Butterworth 6 | # 7 | # Redistribution and use in source and binary forms, with or without 8 | # modification, are permitted provided that the following conditions are met: 9 | # 10 | # - Redistributions of source code must retain the above copyright notice, this 11 | # list of conditions and the following disclaimer. 12 | # - Redistributions in binary form must reproduce the above copyright notice, 13 | # this list of conditions and the following disclaimer in the documentation 14 | # and/or other materials provided with the distribution. 15 | # - Neither the name of Carnegie Mellon University nor the names of its 16 | # contributors may be used to endorse or promote products derived from this 17 | # software without specific prior written permission. 18 | # 19 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 20 | # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 21 | # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 22 | # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 23 | # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 24 | # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 25 | # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 26 | # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 27 | # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 28 | # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 29 | # POSSIBILITY OF SUCH DAMAGE. 30 | 31 | 32 | """ 33 | This is a demo of Rviz Tools for python which tests all of the 34 | available functions by publishing lots of Markers in Rviz. 35 | """ 36 | 37 | # Python includes 38 | import numpy 39 | import random 40 | 41 | # ROS includes 42 | import roslib 43 | import rospy 44 | from geometry_msgs.msg import Pose, Point, Quaternion, Vector3, Polygon 45 | from tf import transformations # rotation_matrix(), concatenate_matrices() 46 | 47 | import rviz_tools_py as rviz_tools 48 | 49 | 50 | # Initialize the ROS Node 51 | rospy.init_node('test', anonymous=False, log_level=rospy.INFO, disable_signals=False) 52 | 53 | # Define exit handler 54 | def cleanup_node(): 55 | print "Shutting down node" 56 | markers.deleteAllMarkers() 57 | 58 | rospy.on_shutdown(cleanup_node) 59 | 60 | 61 | markers = rviz_tools.RvizMarkers('/map', 'visualization_marker') 62 | 63 | 64 | while not rospy.is_shutdown(): 65 | 66 | # Axis: 67 | 68 | # Publish an axis using a numpy transform matrix 69 | T = transformations.translation_matrix((1,0,0)) 70 | axis_length = 0.4 71 | axis_radius = 0.05 72 | markers.publishAxis(T, axis_length, axis_radius, 5.0) # pose, axis length, radius, lifetime 73 | 74 | # Publish an axis using a ROS Pose Msg 75 | P = Pose(Point(2,0,0),Quaternion(0,0,0,1)) 76 | axis_length = 0.4 77 | axis_radius = 0.05 78 | markers.publishAxis(P, axis_length, axis_radius, 5.0) # pose, axis length, radius, lifetime 79 | 80 | 81 | # Line: 82 | 83 | # Publish a line between two ROS Point Msgs 84 | point1 = Point(-2,1,0) 85 | point2 = Point(2,1,0) 86 | width = 0.05 87 | markers.publishLine(point1, point2, 'green', width, 5.0) # point1, point2, color, width, lifetime 88 | 89 | # Publish a line between two ROS Poses 90 | P1 = Pose(Point(-2,1.1,0),Quaternion(0,0,0,1)) 91 | P2 = Pose(Point(2,1.1,0),Quaternion(0,0,0,1)) 92 | width = 0.02 93 | markers.publishLine(P1, P2, 'red', width, 5.0) # point1, point2, color, width, lifetime 94 | 95 | # Publish a line between two numpy transform matrices 96 | T1 = transformations.translation_matrix((-2,1.2,0)) 97 | T2 = transformations.translation_matrix((2,1.2,0)) 98 | width = 0.02 99 | markers.publishLine(T1, T2, 'blue', width, 5.0) # point1, point2, color, width, lifetime 100 | 101 | 102 | # Path: 103 | 104 | # Publish a path using a list of ROS Point Msgs 105 | path = [] 106 | path.append( Point(0,-0.5,0) ) 107 | path.append( Point(1,-0.5,0) ) 108 | path.append( Point(1.5,-0.2,0) ) 109 | path.append( Point(2,-0.5,0) ) 110 | path.append( Point(2.5,-0.2,0) ) 111 | path.append( Point(3,-0.5,0) ) 112 | path.append( Point(4,-0.5,0) ) 113 | width = 0.02 114 | markers.publishPath(path, 'orange', width, 5.0) # path, color, width, lifetime 115 | 116 | 117 | # Plane / Rectangle: 118 | 119 | # Publish a rectangle between two points (thin, planar surface) 120 | # If the z-values are different, this will produce a cuboid 121 | point1 = Point(-1,0,0) 122 | point2 = Point(-2,-1,0) 123 | markers.publishRectangle(point1, point2, 'blue', 5.0) 124 | 125 | # Publish a rotated plane using a numpy transform matrix 126 | R_y = transformations.rotation_matrix(0.3, (0,1,0)) # Rotate around y-axis by 0.3 radians 127 | T0 = transformations.translation_matrix((-3,-1.5,0)) 128 | T = transformations.concatenate_matrices(T0, R_y) 129 | depth = 1.1 130 | width = 1.5 131 | markers.publishPlane(T, depth, width, 'purple', 5.0) # pose, depth, width, color, lifetime 132 | 133 | # Publish a plane using a ROS Pose Msg 134 | P = Pose(Point(-3,0,0),Quaternion(0,0,0,1)) 135 | depth = 1.3 136 | width = 1.3 137 | markers.publishPlane(P, depth, width, 'brown', 5.0) # pose, depth, width, color, lifetime 138 | 139 | 140 | # Polygon: 141 | 142 | # Publish a polygon using a ROS Polygon Msg 143 | polygon = Polygon() 144 | polygon.points.append( Point(0.0,-1.0,0.0) ) 145 | polygon.points.append( Point(0.0,-2.0,0.0) ) 146 | polygon.points.append( Point(-1.0,-2.0,0.0) ) 147 | polygon.points.append( Point(-1.0,-1.0,0.0) ) 148 | markers.publishPolygon(polygon, 'red', 0.02, 5.0) # path, color, width, lifetime 149 | 150 | 151 | # Text: 152 | 153 | # Publish some text using a ROS Pose Msg 154 | P = Pose(Point(3,-1,0),Quaternion(0,0,0,1)) 155 | scale = Vector3(0.2,0.2,0.2) 156 | markers.publishText(P, 'This is some text', 'white', scale, 5.0) # pose, text, color, scale, lifetime 157 | 158 | 159 | # Arrow: 160 | 161 | # Publish an arrow using a numpy transform matrix 162 | T = transformations.translation_matrix((1,-2,0)) 163 | scale = Vector3(1.0,0.2,0.2) # x=length, y=height, z=height 164 | markers.publishArrow(T, 'blue', scale, 5.0) # pose, color, scale, lifetime 165 | 166 | # Publish an arrow using a ROS Pose Msg 167 | P = Pose(Point(1,-3,0),Quaternion(0,0,0,1)) 168 | arrow_length = 2.0 # single value for length (height is relative) 169 | markers.publishArrow(P, 'pink', arrow_length, 5.0) # pose, color, arrow_length, lifetime 170 | 171 | 172 | # Cube / Cuboid: 173 | 174 | # Publish a cube using a numpy transform matrix 175 | T = transformations.translation_matrix((-3,2.2,0)) 176 | cube_width = 0.5 # cube is 0.5x0.5x0.5 177 | markers.publishCube(T, 'green', cube_width, 5.0) # pose, color, cube_width, lifetime 178 | 179 | # Publish a cube using a ROS Pose Msg 180 | P = Pose(Point(-2,2.2,0),Quaternion(0,0,0,1)) 181 | cube_width = 0.6 182 | markers.publishCube(P, 'blue', cube_width, 5.0) # pose, color, cube_width, lifetime 183 | 184 | # Publish a cube using wrapper function publishBlock() 185 | P = Pose(Point(-1,2.2,0),Quaternion(0,0,0,1)) 186 | cube_width = 0.7 187 | markers.publishBlock(P, 'orange', cube_width, 5.0) # pose, color, cube_width, lifetime 188 | 189 | # Publish a cuboid using a numpy transform matrix 190 | T = transformations.translation_matrix((0.6,2.2,0)) 191 | scale = Vector3(1.5,0.2,0.2) 192 | markers.publishCube(T, 'yellow', scale, 5.0) # pose, color, scale, lifetime 193 | 194 | # Publish a cuboid using a ROS Pose Msg 195 | P = Pose(Point(2.2,2.2,0),Quaternion(0,0,0,1)) 196 | scale = Vector3(1.1,0.2,0.8) 197 | markers.publishCube(P, 'brown', scale, 5.0) # pose, color, scale, lifetime 198 | 199 | 200 | # List of cubes: 201 | 202 | # Publish a set of cubes using a list of ROS Point Msgs 203 | points = [] 204 | z_height = 0.1 205 | points.append(Point(3.5+0*0.2, 0.5, z_height)) # row 1 206 | points.append(Point(3.5+1*0.2, 0.5, z_height)) 207 | points.append(Point(3.5+2*0.2, 0.5, z_height)) 208 | points.append(Point(3.5+0*0.2, 0.5+1*0.2, z_height)) # row 2 209 | points.append(Point(3.5+1*0.2, 0.5+1*0.2, z_height)) 210 | points.append(Point(3.5+2*0.2, 0.5+1*0.2, z_height)) 211 | points.append(Point(3.5+0*0.2, 0.5+2*0.2, z_height)) # row 3 212 | points.append(Point(3.5+1*0.2, 0.5+2*0.2, z_height)) 213 | points.append(Point(3.5+2*0.2, 0.5+2*0.2, z_height)) 214 | points.append(Point(3.5+0*0.2, 0.5+2*0.2, z_height+0.2)) # 2nd layer 215 | diameter = 0.2-0.005 216 | markers.publishCubes(points, 'red', diameter, 5.0) # path, color, diameter, lifetime 217 | 218 | 219 | # Sphere: 220 | 221 | # Publish a sphere using a numpy transform matrix 222 | T = transformations.translation_matrix((-3,3.2,0)) 223 | scale = Vector3(0.5,0.5,0.5) # diameter 224 | color = [0,1,0] # list of RGB values (green) 225 | markers.publishSphere(T, color, scale, 5.0) # pose, color, scale, lifetime 226 | 227 | # Publish a sphere using a ROS Pose 228 | P = Pose(Point(-2,3.2,0),Quaternion(0,0,0,1)) 229 | scale = Vector3(0.6,0.6,0.6) # diameter 230 | color = (0,0,1) # tuple of RGB values (blue) 231 | markers.publishSphere(P, color, scale, 5.0) # pose, color, scale, lifetime 232 | 233 | # Publish a sphere using a ROS Point 234 | point = Point(-1,3.2,0) 235 | scale = Vector3(0.7,0.7,0.7) # diameter 236 | color = 'orange' 237 | markers.publishSphere(point, color, scale, 5.0) # pose, color, scale, lifetime 238 | 239 | # Publish a sphere by passing diameter as a float 240 | point = Point(0,3.2,0) 241 | diameter = 0.8 242 | markers.publishSphere(point, 'yellow', diameter, 5.0) # pose, color, diameter, lifetime 243 | 244 | # Publish a sphere with higher render quality (this is one sphere in a SPHERE_LIST) 245 | point = Point(1,3.2,0) 246 | diameter = 0.9 247 | markers.publishSphere2(point, 'brown', diameter, 5.0) # pose, color, scale, lifetime 248 | 249 | 250 | # List of spheres: 251 | 252 | # Publish a set of spheres using a list of ROS Point Msgs 253 | points = [] 254 | points.append( Point(-3,4,0) ) 255 | points.append( Point(-2,4,0) ) 256 | points.append( Point(-1,4,0) ) 257 | points.append( Point(0,4,0) ) 258 | diameter = 0.3 259 | markers.publishSpheres(points, 'white', diameter, 5.0) # path, color, diameter, lifetime 260 | 261 | # Publish a set of spheres using a list of ROS Pose Msgs 262 | poses = [] 263 | poses.append( Pose(Point(1,4,0),Quaternion(0,0,0,1)) ) 264 | poses.append( Pose(Point(2,4,0),Quaternion(0,0,0,1)) ) 265 | poses.append( Pose(Point(3,4,0),Quaternion(0,0,0,1)) ) 266 | scale = Vector3(0.5,0.5,0.5) # diameter 267 | markers.publishSpheres(poses, 'blue', scale, 5.0) # path, color, scale, lifetime 268 | 269 | # Publish a set of spheres using a list of numpy transform matrices 270 | poses = [] 271 | poses.append( Pose(Point(4,4,0),Quaternion(0,0,0,1)) ) 272 | poses.append( Pose(Point(5,4,0),Quaternion(0,0,0,1)) ) 273 | diameter = 0.6 274 | markers.publishSpheres(poses, 'green', diameter, 5.0) # path, color, scale, lifetime 275 | 276 | 277 | # Cylinder: 278 | 279 | # Publish a cylinder using a numpy transform matrix 280 | T = transformations.translation_matrix((-3,5,0)) 281 | markers.publishCylinder(T, 'green', 1.0, 0.5, 5.0) # pose, color, height, radius, lifetime 282 | 283 | # Publish a cylinder using a ROS Pose 284 | P = Pose(Point(-2,5,0),Quaternion(0,0,0,1)) 285 | markers.publishCylinder(P, 'blue', 1.0, 0.5, 5.0) # pose, color, height, radius, lifetime 286 | 287 | 288 | # Publish a cylinder of a random color (method #1) 289 | P = Pose(Point(-1,5,0),Quaternion(0,0,0,1)) 290 | markers.publishCylinder(P, markers.getRandomColor(), 1.0, 0.5, 5.0) # pose, color, height, radius, lifetime 291 | 292 | # Publish a cylinder of a random color (method #2) 293 | P = Pose(Point(0,5,0),Quaternion(0,0,0,1)) 294 | markers.publishCylinder(P, 'random', 1.0, 0.5, 5.0) # pose, color, height, radius, lifetime 295 | 296 | 297 | # Model mesh: 298 | 299 | # Publish STL mesh of box, colored green 300 | T = transformations.translation_matrix((3,1,0)) 301 | scale = Vector3(1.5,1.5,1.5) 302 | mesh_file1 = "package://rviz_tools_py/meshes/box_mesh.stl" 303 | markers.publishMesh(T, mesh_file1, 'lime_green', scale, 5.0) # pose, mesh_file_name, color, mesh_scale, lifetime 304 | 305 | # Display STL mesh of bottle, re-scaled to smaller size 306 | P = Pose(Point(4,1,0),Quaternion(0,0,0,1)) 307 | scale = Vector3(0.6,0.6,0.6) 308 | mesh_file2 = "package://rviz_tools_py/meshes/fuze_bottle_collision.stl" 309 | markers.publishMesh(P, mesh_file2, 'blue', scale, 5.0) # pose, mesh_file_name, color, mesh_scale, lifetime 310 | 311 | # Display collada model with original texture (no coloring) 312 | P = Pose(Point(5,1,0),Quaternion(0,0,0,1)) 313 | mesh_file3 = "package://rviz_tools_py/meshes/fuze_bottle_visual.dae" 314 | mesh_scale = 4.0 315 | markers.publishMesh(P, mesh_file3, None, mesh_scale, 5.0) # pose, mesh_file_name, color, mesh_scale, lifetime 316 | 317 | 318 | rospy.Rate(1).sleep() #1 Hz 319 | -------------------------------------------------------------------------------- /src/rviz_tools_py/rviz_tools.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | # Copyright (c) 2015, Carnegie Mellon University 4 | # All rights reserved. 5 | # Authors: David Butterworth 6 | # 7 | # Redistribution and use in source and binary forms, with or without 8 | # modification, are permitted provided that the following conditions are met: 9 | # 10 | # - Redistributions of source code must retain the above copyright notice, this 11 | # list of conditions and the following disclaimer. 12 | # - Redistributions in binary form must reproduce the above copyright notice, 13 | # this list of conditions and the following disclaimer in the documentation 14 | # and/or other materials provided with the distribution. 15 | # - Neither the name of Carnegie Mellon University nor the names of its 16 | # contributors may be used to endorse or promote products derived from this 17 | # software without specific prior written permission. 18 | # 19 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 20 | # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 21 | # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 22 | # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 23 | # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 24 | # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 25 | # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 26 | # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 27 | # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 28 | # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 29 | # POSSIBILITY OF SUCH DAMAGE. 30 | 31 | 32 | # Python includes 33 | import numpy 34 | import random # randint 35 | 36 | # ROS includes 37 | import roslib 38 | import rospy 39 | import tf # tf/transformations.py 40 | from std_msgs.msg import Header, ColorRGBA 41 | from geometry_msgs.msg import Transform 42 | from geometry_msgs.msg import Pose 43 | from geometry_msgs.msg import Point, Point32 44 | from geometry_msgs.msg import Vector3 45 | from geometry_msgs.msg import Quaternion 46 | from geometry_msgs.msg import Polygon 47 | from visualization_msgs.msg import Marker 48 | 49 | 50 | class RvizMarkers(object): 51 | """ 52 | A class for publishing markers in Rviz 53 | """ 54 | 55 | def __init__(self, base_frame, marker_topic, wait_time=None): 56 | self.base_frame = base_frame 57 | self.marker_topic = marker_topic 58 | 59 | # Set the default Marker parameters 60 | self.setDefaultMarkerParams() 61 | 62 | # Create the Rviz Marker Publisher 63 | self.loadMarkerPublisher(wait_time) 64 | 65 | 66 | def setDefaultMarkerParams(self): 67 | """ 68 | Set the default parameters for each type of Rviz Marker 69 | """ 70 | 71 | self.marker_lifetime = rospy.Duration(0.0) # 0 = Marker never expires 72 | self.muted = False 73 | self.alpha = 1.0 74 | 75 | # Set default parameters for Cylinder Marker 76 | self.cylinder_marker = Marker() 77 | self.cylinder_marker.header.frame_id = self.base_frame 78 | self.cylinder_marker.ns = "Cylinder" # unique ID 79 | self.cylinder_marker.action = Marker().ADD 80 | self.cylinder_marker.type = Marker().CYLINDER 81 | self.cylinder_marker.lifetime = self.marker_lifetime 82 | 83 | # Reset Marker 84 | self.reset_marker = Marker() 85 | self.reset_marker.header.frame_id = self.base_frame 86 | self.reset_marker.header.stamp = rospy.Time() 87 | self.reset_marker.action = 3 88 | 89 | # Arrow Marker 90 | self.arrow_marker = Marker() 91 | self.arrow_marker.header.frame_id = self.base_frame 92 | self.arrow_marker.ns = "Arrow" # unique ID 93 | self.arrow_marker.action = Marker().ADD 94 | self.arrow_marker.type = Marker().ARROW 95 | self.arrow_marker.lifetime = self.marker_lifetime 96 | 97 | # Rectangle Marker 98 | self.rectangle_marker = Marker() 99 | self.rectangle_marker.header.frame_id = self.base_frame 100 | self.rectangle_marker.ns = "Rectangle" # unique ID 101 | self.rectangle_marker.action = Marker().ADD 102 | self.rectangle_marker.type = Marker().CUBE 103 | self.rectangle_marker.lifetime = self.marker_lifetime 104 | 105 | # Line Marker 106 | self.line_marker = Marker() 107 | self.line_marker.header.frame_id = self.base_frame 108 | self.line_marker.ns = "Line" # unique ID 109 | self.line_marker.action = Marker().ADD 110 | self.line_marker.type = Marker().LINE_STRIP 111 | self.line_marker.lifetime = self.marker_lifetime 112 | 113 | # Path Marker (Line List) 114 | self.path_marker = Marker() 115 | self.path_marker.header.frame_id = self.base_frame 116 | self.path_marker.ns = "Path" # unique ID 117 | self.path_marker.action = Marker().ADD 118 | self.path_marker.type = Marker().LINE_LIST 119 | self.path_marker.lifetime = self.marker_lifetime 120 | self.path_marker.pose.position.x = 0.0 121 | self.path_marker.pose.position.y = 0.0 122 | self.path_marker.pose.position.z = 0.0 123 | self.path_marker.pose.orientation.x = 0.0 124 | self.path_marker.pose.orientation.y = 0.0 125 | self.path_marker.pose.orientation.z = 0.0 126 | self.path_marker.pose.orientation.w = 1.0 127 | 128 | # Sphere Marker (A single sphere) 129 | # This renders a low-quality sphere 130 | self.sphere_marker = Marker() 131 | self.sphere_marker.header.frame_id = self.base_frame 132 | self.sphere_marker.ns = "Sphere" # unique ID 133 | self.sphere_marker.type = Marker().SPHERE 134 | self.sphere_marker.action = Marker().ADD 135 | self.sphere_marker.lifetime = self.marker_lifetime 136 | self.sphere_marker.pose.position.x = 0 137 | self.sphere_marker.pose.position.y = 0 138 | self.sphere_marker.pose.position.z = 0 139 | self.sphere_marker.pose.orientation.x = 0.0 140 | self.sphere_marker.pose.orientation.y = 0.0 141 | self.sphere_marker.pose.orientation.z = 0.0 142 | self.sphere_marker.pose.orientation.w = 1.0 143 | 144 | # Sphere Marker #2 (A single sphere) 145 | # A Sphere List with one sphere, this renders a 146 | # higher-quality sphere than the method above 147 | self.sphere_marker2 = Marker() 148 | self.sphere_marker2.header.frame_id = self.base_frame 149 | self.sphere_marker2.ns = "Sphere" # unique ID 150 | self.sphere_marker2.type = Marker().SPHERE_LIST 151 | self.sphere_marker2.action = Marker().ADD 152 | self.sphere_marker2.lifetime = self.marker_lifetime 153 | self.sphere_marker2.pose.position.x = 0 154 | self.sphere_marker2.pose.position.y = 0 155 | self.sphere_marker2.pose.position.z = 0 156 | self.sphere_marker2.pose.orientation.x = 0.0 157 | self.sphere_marker2.pose.orientation.y = 0.0 158 | self.sphere_marker2.pose.orientation.z = 0.0 159 | self.sphere_marker2.pose.orientation.w = 1.0 160 | point1 = Point() 161 | self.sphere_marker2.points.append(point1) 162 | self.sphere_marker2.colors.append(self.getColor('blue')) 163 | 164 | # Spheres List (Multiple spheres) 165 | self.spheres_marker = Marker() 166 | self.spheres_marker.header.frame_id = self.base_frame 167 | self.spheres_marker.ns = "Spheres" # unique ID 168 | self.spheres_marker.type = Marker().SPHERE_LIST 169 | self.spheres_marker.action = Marker().ADD 170 | self.spheres_marker.lifetime = self.marker_lifetime 171 | self.spheres_marker.pose.position.x = 0.0 172 | self.spheres_marker.pose.position.y = 0.0 173 | self.spheres_marker.pose.position.z = 0.0 174 | self.spheres_marker.pose.orientation.x = 0.0 175 | self.spheres_marker.pose.orientation.y = 0.0 176 | self.spheres_marker.pose.orientation.z = 0.0 177 | self.spheres_marker.pose.orientation.w = 1.0 178 | 179 | # Cube Marker (Block or cuboid) 180 | self.cube_marker = Marker() 181 | self.cube_marker.header.frame_id = self.base_frame 182 | self.cube_marker.ns = "Block" # unique ID 183 | self.cube_marker.action = Marker().ADD 184 | self.cube_marker.type = Marker().CUBE 185 | self.cube_marker.lifetime = self.marker_lifetime 186 | 187 | # Cubes List (Multiple cubes) 188 | self.cubes_marker = Marker() 189 | self.cubes_marker.header.frame_id = self.base_frame 190 | self.cubes_marker.ns = "Cubes" # unique ID 191 | self.cubes_marker.type = Marker().CUBE_LIST 192 | self.cubes_marker.action = Marker().ADD 193 | self.cubes_marker.lifetime = self.marker_lifetime 194 | self.cubes_marker.pose.position.x = 0.0 195 | self.cubes_marker.pose.position.y = 0.0 196 | self.cubes_marker.pose.position.z = 0.0 197 | self.cubes_marker.pose.orientation.x = 0.0 198 | self.cubes_marker.pose.orientation.y = 0.0 199 | self.cubes_marker.pose.orientation.z = 0.0 200 | self.cubes_marker.pose.orientation.w = 1.0 201 | 202 | # Cylinder Marker 203 | self.cylinder_marker = Marker() 204 | self.cylinder_marker.header.frame_id = self.base_frame 205 | self.cylinder_marker.ns = "Cylinder" # unique ID 206 | self.cylinder_marker.action = Marker().ADD 207 | self.cylinder_marker.type = Marker().CYLINDER 208 | self.cylinder_marker.lifetime = self.marker_lifetime 209 | 210 | # Mesh Marker 211 | self.mesh_marker = Marker() 212 | self.mesh_marker.header.frame_id = self.base_frame 213 | self.mesh_marker.ns = "Mesh" # unique ID 214 | self.mesh_marker.action = Marker().ADD 215 | self.mesh_marker.type = Marker().MESH_RESOURCE 216 | self.mesh_marker.lifetime = self.marker_lifetime 217 | 218 | # Text Marker 219 | self.text_marker = Marker() 220 | self.text_marker.header.frame_id = self.base_frame 221 | self.text_marker.ns = "Text" # unique ID 222 | self.text_marker.action = Marker().ADD 223 | self.text_marker.type = Marker().TEXT_VIEW_FACING 224 | self.text_marker.lifetime = self.marker_lifetime 225 | 226 | 227 | def loadMarkerPublisher(self, wait_time=None): 228 | """ 229 | Initialize the ROS Publisher. 230 | 231 | If wait_time != None, wait for specified number of 232 | seconds for a subscriber to connect. 233 | """ 234 | 235 | # Check if the ROS Publisher has already been created 236 | if hasattr(self, 'pub_rviz_marker'): 237 | return 238 | 239 | # Create the Rviz Marker Publisher 240 | self.pub_rviz_marker = rospy.Publisher(self.marker_topic, Marker, queue_size=10) 241 | rospy.logdebug("Publishing Rviz markers on topic '%s'", self.marker_topic) 242 | 243 | # Block for specified number of seconds, 244 | # or until there is 1 subscriber 245 | if wait_time != None: 246 | self.waitForSubscriber(self.pub_rviz_marker, wait_time) 247 | 248 | 249 | def waitForSubscriber(self, publisher, wait_time=1.0): 250 | """ 251 | Wait until there is 1 subscriber to a ROS Publisher, 252 | or until some number of seconds have elapsed. 253 | """ 254 | 255 | start_time = rospy.Time.now() 256 | max_time = start_time + rospy.Duration(wait_time) 257 | 258 | num_existing_subscribers = publisher.get_num_connections() 259 | 260 | while (num_existing_subscribers == 0): 261 | #print 'Number of subscribers: ', num_existing_subscribers 262 | rospy.Rate(100).sleep() 263 | 264 | if (rospy.Time.now() > max_time): 265 | rospy.logerr("No subscribers connected to the '%s' topic after %f seconds", self.marker_topic, wait_time) 266 | return False 267 | 268 | num_existing_subscribers = publisher.get_num_connections() 269 | 270 | return True 271 | 272 | 273 | def publishMarker(self, marker): 274 | """ 275 | Publish a Marker Msg 276 | """ 277 | 278 | if (self.muted == True): 279 | return True 280 | 281 | ## Check ROS Publisher 282 | #self.loadMarkerPublisher() 283 | 284 | self.pub_rviz_marker.publish(marker) 285 | 286 | return True 287 | 288 | 289 | def deleteAllMarkers(self): 290 | """ 291 | Publish a Msg to delete all Markers 292 | """ 293 | 294 | return self.publishMarker(self.reset_marker) 295 | 296 | 297 | def getColor(self, color): 298 | """ 299 | Convert a color name or RGB value to a ROS ColorRGBA type 300 | 301 | @param color name (string) or RGB color value (tuple or list) 302 | 303 | @return color (ColorRGBA) 304 | """ 305 | 306 | result = ColorRGBA() 307 | result.a = self.alpha 308 | 309 | if (type(color) == tuple) or (type(color) == list): 310 | if len(color) == 3: 311 | result.r = color[0] 312 | result.g = color[1] 313 | result.b = color[2] 314 | elif len(color) == 4: 315 | result.r = color[0] 316 | result.g = color[1] 317 | result.b = color[2] 318 | result.a = color[3] 319 | else: 320 | raise ValueError('color must have 3 or 4 float values in getColor()') 321 | elif (color == 'red'): 322 | result.r = 0.8 323 | result.g = 0.1 324 | result.b = 0.1 325 | elif (color == 'green'): 326 | result.r = 0.1 327 | result.g = 0.8 328 | result.b = 0.1 329 | elif (color == 'blue'): 330 | result.r = 0.1 331 | result.g = 0.1 332 | result.b = 0.8 333 | elif (color == 'grey') or (color == 'gray'): 334 | result.r = 0.9 335 | result.g = 0.9 336 | result.b = 0.9 337 | elif (color == 'white'): 338 | result.r = 1.0 339 | result.g = 1.0 340 | result.b = 1.0 341 | elif (color == 'orange'): 342 | result.r = 1.0 343 | result.g = 0.5 344 | result.b = 0.0 345 | elif (color == 'translucent_light'): 346 | result.r = 0.1 347 | result.g = 0.1 348 | result.b = 0.1 349 | result.a = 0.1 350 | elif (color == 'translucent'): 351 | result.r = 0.1 352 | result.g = 0.1 353 | result.b = 0.1 354 | result.a = 0.25 355 | elif (color == 'translucent_dark'): 356 | result.r = 0.1 357 | result.g = 0.1 358 | result.b = 0.1 359 | result.a = 0.5 360 | elif (color == 'black'): 361 | result.r = 0.0 362 | result.g = 0.0 363 | result.b = 0.0 364 | elif (color == 'yellow'): 365 | result.r = 1.0 366 | result.g = 1.0 367 | result.b = 0.0 368 | elif (color == 'brown'): 369 | result.r = 0.597 370 | result.g = 0.296 371 | result.b = 0.0 372 | elif (color == 'pink'): 373 | result.r = 1.0 374 | result.g = 0.4 375 | result.b = 1 376 | elif (color == 'lime_green'): 377 | result.r = 0.6 378 | result.g = 1.0 379 | result.b = 0.2 380 | elif (color == 'clear'): 381 | result.r=1.0 382 | result.g=1.0 383 | result.b=1.0 384 | result.a=0.0 385 | elif (color == 'purple'): 386 | result.r = 0.597 387 | result.g = 0.0 388 | result.b = 0.597 389 | elif (color == 'random'): 390 | # Get a random color that is not too light 391 | while True: 392 | result.r = random.random() # random float from 0 to 1 393 | result.g = random.random() 394 | result.b = random.random() 395 | if ((result.r + result.g + result.b) > 1.5): # 0=black, 3=white 396 | break 397 | else: 398 | rospy.logerr("getColor() called with unknown color name '%s', defaulting to 'blue'", color) 399 | result.r = 0.1 400 | result.g = 0.1 401 | result.b = 0.8 402 | 403 | return result 404 | 405 | 406 | def getRandomColor(self): 407 | """ 408 | Get a random color. 409 | 410 | @return color (ColorRGBA) 411 | """ 412 | 413 | # Make a list of the color names to choose from 414 | all_colors = [] 415 | all_colors.append('red') 416 | all_colors.append('green') 417 | all_colors.append('blue') 418 | all_colors.append('grey') 419 | all_colors.append('white') 420 | all_colors.append('orange') 421 | all_colors.append('yellow') 422 | all_colors.append('brown') 423 | all_colors.append('pink') 424 | all_colors.append('lime_green') 425 | all_colors.append('purple') 426 | 427 | # Chose a random color name 428 | rand_num = random.randint(0, len(all_colors) - 1) 429 | rand_color_name = all_colors[rand_num] 430 | 431 | return rand_color_name 432 | 433 | 434 | def publishSphere(self, pose, color, scale, lifetime=None): 435 | """ 436 | Publish a sphere Marker. This renders 3D looking sphere. 437 | 438 | @param pose (numpy matrix, numpy ndarray, ROS Pose) 439 | @param color name (string) or RGB color value (tuple or list) 440 | @param scale (ROS Vector3, float) 441 | @param lifetime (float, None = never expire) 442 | """ 443 | 444 | if (self.muted == True): 445 | return True 446 | 447 | # Convert input pose to a ROS Pose Msg 448 | if (type(pose) == numpy.matrix) or (type(pose) == numpy.ndarray): 449 | sphere_pose = mat_to_pose(pose) 450 | elif type(pose) == Pose: 451 | sphere_pose = pose 452 | elif type(pose) == Point: 453 | pose_msg = Pose() 454 | pose_msg.position = pose 455 | sphere_pose = pose_msg 456 | else: 457 | rospy.logerr("Pose is unsupported type '%s' in publishSphere()", type(pose).__name__) 458 | return False 459 | 460 | # Convert input scale to a ROS Vector3 Msg 461 | if type(scale) == Vector3: 462 | sphere_scale = scale 463 | elif type(scale) == float: 464 | sphere_scale = Vector3(scale, scale, scale) 465 | else: 466 | rospy.logerr("Scale is unsupported type '%s' in publishSphere()", type(scale).__name__) 467 | return False 468 | 469 | # Increment the ID number 470 | self.sphere_marker.id += 1 471 | 472 | # Get the default parameters 473 | sphere_marker = self.sphere_marker 474 | 475 | if lifetime == None: 476 | sphere_marker.lifetime = rospy.Duration(0.0) # 0 = Marker never expires 477 | else: 478 | sphere_marker.lifetime = rospy.Duration(lifetime) # in seconds 479 | 480 | # Set the timestamp 481 | sphere_marker.header.stamp = rospy.Time.now() 482 | 483 | # Set marker size 484 | sphere_marker.scale = sphere_scale 485 | 486 | # Set marker color 487 | sphere_marker.color = self.getColor(color) 488 | 489 | # Set the pose 490 | sphere_marker.pose = sphere_pose 491 | 492 | return self.publishMarker(sphere_marker) 493 | 494 | 495 | def publishSphere2(self, pose, color, scale, lifetime=None): 496 | """ 497 | Publish a sphere Marker. This renders a smoother, flatter-looking sphere. 498 | 499 | @param pose (numpy matrix, numpy ndarray, ROS Pose) 500 | @param color name (string) or RGB color value (tuple or list) 501 | @param scale (ROS Vector3, float) 502 | @param lifetime (float, None = never expire) 503 | """ 504 | 505 | if (self.muted == True): 506 | return True 507 | 508 | # Convert input pose to a ROS Pose Msg 509 | if (type(pose) == numpy.matrix) or (type(pose) == numpy.ndarray): 510 | sphere_pose = mat_to_pose(pose) 511 | elif type(pose) == Pose: 512 | sphere_pose = pose 513 | elif type(pose) == Point: 514 | pose_msg = Pose() 515 | pose_msg.position = pose 516 | sphere_pose = pose_msg 517 | else: 518 | rospy.logerr("Pose is unsupported type '%s' in publishSphere()", type(pose).__name__) 519 | return False 520 | 521 | # Convert input scale to a ROS Vector3 Msg 522 | if type(scale) == Vector3: 523 | sphere_scale = scale 524 | elif type(scale) == float: 525 | sphere_scale = Vector3(scale, scale, scale) 526 | else: 527 | rospy.logerr("Scale is unsupported type '%s' in publishSphere()", type(scale).__name__) 528 | return False 529 | 530 | # Increment the ID number 531 | self.sphere_marker.id += 1 532 | 533 | # Get the default parameters 534 | sphere_marker = self.sphere_marker2 # sphere_marker2 = SPHERE_LIST 535 | 536 | if lifetime == None: 537 | sphere_marker.lifetime = rospy.Duration(0.0) # 0 = Marker never expires 538 | else: 539 | sphere_marker.lifetime = rospy.Duration(lifetime) # in seconds 540 | 541 | # Set the timestamp 542 | sphere_marker.header.stamp = rospy.Time.now() 543 | 544 | # Set marker size 545 | sphere_marker.scale = sphere_scale 546 | 547 | # Set marker color 548 | sphere_marker.color = self.getColor(color) 549 | 550 | # Set the pose of one sphere in the list 551 | sphere_marker.points[0] = sphere_pose.position 552 | sphere_marker.colors[0] = self.getColor(color) 553 | 554 | return self.publishMarker(sphere_marker) 555 | 556 | 557 | def publishArrow(self, pose, color, scale, lifetime=None): 558 | """ 559 | Publish an arrow Marker. 560 | 561 | @param pose (numpy matrix, numpy ndarray, ROS Pose) 562 | @param color name (string) or RGB color value (tuple or list) 563 | @param scale (ROS Vector3, float) 564 | @param lifetime (float, None = never expire) 565 | """ 566 | 567 | if (self.muted == True): 568 | return True 569 | 570 | # Convert input pose to a ROS Pose Msg 571 | if (type(pose) == numpy.matrix) or (type(pose) == numpy.ndarray): 572 | arrow_pose = mat_to_pose(pose) 573 | elif type(pose) == Pose: 574 | arrow_pose = pose 575 | else: 576 | rospy.logerr("Pose is unsupported type '%s' in publishArrow()", type(pose).__name__) 577 | return False 578 | 579 | # Convert input scale to a ROS Vector3 Msg 580 | if type(scale) == Vector3: 581 | arrow_scale = scale 582 | elif type(scale) == float: 583 | arrow_scale = Vector3(scale, 0.1*scale, 0.1*scale) 584 | else: 585 | rospy.logerr("Scale is unsupported type '%s' in publishArrow()", type(scale).__name__) 586 | return False 587 | 588 | # Increment the ID number 589 | self.arrow_marker.id += 1 590 | 591 | # Get the default parameters 592 | arrow_marker = self.arrow_marker 593 | 594 | if lifetime == None: 595 | arrow_marker.lifetime = rospy.Duration(0.0) # 0 = Marker never expires 596 | else: 597 | arrow_marker.lifetime = rospy.Duration(lifetime) # in seconds 598 | 599 | # Set the timestamp 600 | arrow_marker.header.stamp = rospy.Time.now() 601 | 602 | # Set the pose 603 | arrow_marker.pose = arrow_pose 604 | 605 | # Set marker size 606 | arrow_marker.scale = arrow_scale 607 | 608 | # Set marker color 609 | arrow_marker.color = self.getColor(color) 610 | 611 | return self.publishMarker(arrow_marker) 612 | 613 | 614 | def publishCube(self, pose, color, scale, lifetime=None): 615 | """ 616 | Publish a cube Marker. 617 | 618 | @param pose (numpy matrix, numpy ndarray, ROS Pose) 619 | @param color name (string) or RGB color value (tuple or list) 620 | @param scale (ROS Vector3, float) 621 | @param lifetime (float, None = never expire) 622 | """ 623 | 624 | if (self.muted == True): 625 | return True 626 | 627 | # Convert input pose to a ROS Pose Msg 628 | if (type(pose) == numpy.matrix) or (type(pose) == numpy.ndarray): 629 | cube_pose = mat_to_pose(pose) 630 | elif type(pose) == Pose: 631 | cube_pose = pose 632 | else: 633 | rospy.logerr("Pose is unsupported type '%s' in publishCube()", type(pose).__name__) 634 | return False 635 | 636 | # Convert input scale to a ROS Vector3 Msg 637 | if type(scale) == Vector3: 638 | cube_scale = scale 639 | elif type(scale) == float: 640 | cube_scale = Vector3(scale, scale, scale) 641 | else: 642 | rospy.logerr("Scale is unsupported type '%s' in publishCube()", type(scale).__name__) 643 | return False 644 | 645 | # Increment the ID number 646 | self.cube_marker.id += 1 647 | 648 | # Get the default parameters 649 | cube_marker = self.cube_marker 650 | 651 | if lifetime == None: 652 | cube_marker.lifetime = rospy.Duration(0.0) # 0 = Marker never expires 653 | else: 654 | cube_marker.lifetime = rospy.Duration(lifetime) # in seconds 655 | 656 | # Set the timestamp 657 | cube_marker.header.stamp = rospy.Time.now() 658 | 659 | # Set the pose 660 | cube_marker.pose = cube_pose 661 | 662 | # Set marker size 663 | cube_marker.scale = cube_scale 664 | 665 | # Set marker color 666 | cube_marker.color = self.getColor(color) 667 | 668 | return self.publishMarker(cube_marker) 669 | 670 | 671 | def publishCubes(self, list_of_cubes, color, scale, lifetime=None): 672 | """ 673 | Publish a list of cubes. 674 | 675 | @param list_of_cubes (list of numpy matrix, list of numpy ndarray, list of ROS Pose) 676 | @param color name (string) or RGB color value (tuple or list) 677 | @param scale (ROS Vector3, float) 678 | @param lifetime (float, None = never expire) 679 | """ 680 | 681 | if (self.muted == True): 682 | return True 683 | 684 | # Check input 685 | if type(list_of_cubes) != list: 686 | rospy.logerr("list_of_cubes is unsupported type '%s' in publishCubes()", type(list_of_cubes).__name__) 687 | return False 688 | 689 | # Convert input scale to a ROS Vector3 Msg 690 | if type(scale) == Vector3: 691 | cubes_scale = scale 692 | elif type(scale) == float: 693 | cubes_scale = Vector3(scale, scale, scale) 694 | else: 695 | rospy.logerr("Scale is unsupported type '%s' in publishCubes()", type(scale).__name__) 696 | return False 697 | 698 | # Increment the ID number 699 | self.cubes_marker.id += 1 700 | 701 | # Get the default parameters 702 | cubes_marker = self.cubes_marker 703 | 704 | if lifetime == None: 705 | cubes_marker.lifetime = rospy.Duration(0.0) # 0 = Marker never expires 706 | else: 707 | cubes_marker.lifetime = rospy.Duration(lifetime) # in seconds 708 | 709 | # Set the timestamp 710 | cubes_marker.header.stamp = rospy.Time.now() 711 | 712 | # Set marker size 713 | cubes_marker.scale = cubes_scale 714 | 715 | # Set marker color 716 | cubes_marker.color = self.getColor(color) 717 | 718 | cubes_color = self.getColor(color) 719 | 720 | # Set the cubes positions and color 721 | cubes_marker.points[:] = [] # clear 722 | cubes_marker.colors[:] = [] 723 | for i in range(0, len(list_of_cubes)): 724 | 725 | # Each cube position needs to be a ROS Point Msg 726 | if type(list_of_cubes[i]) == Pose: 727 | cubes_marker.points.append(list_of_cubes[i].position) 728 | cubes_marker.colors.append(cubes_color) 729 | elif (type(list_of_cubes[i]) == numpy.matrix) or (type(list_of_cubes[i]) == numpy.ndarray): 730 | pose_i = mat_to_pose(list_of_cubes[i]) 731 | cubes_marker.points.append(pose_i.position) 732 | cubes_marker.colors.append(cubes_color) 733 | elif type(list_of_cubes[i]) == Point: 734 | cubes_marker.points.append(list_of_cubes[i]) 735 | cubes_marker.colors.append(cubes_color) 736 | else: 737 | rospy.logerr("list_of_cubes contains unsupported type '%s' in publishCubes()", type(list_of_cubes[i]).__name__) 738 | return False 739 | 740 | return self.publishMarker(cubes_marker) 741 | 742 | 743 | def publishBlock(self, pose, color, scale, lifetime=None): 744 | """ 745 | Publish a cube Marker. 746 | 747 | @param pose (numpy matrix, numpy ndarray, ROS Pose) 748 | @param color name (string) or RGB color value (tuple or list) 749 | @param scale (ROS Vector3, float) 750 | @param lifetime (float, None = never expire) 751 | """ 752 | 753 | return self.publishCube(pose, color, scale) 754 | 755 | 756 | def publishCylinder(self, pose, color, height, radius, lifetime=None): 757 | """ 758 | Publish a cylinder Marker. 759 | 760 | @param pose (numpy matrix, numpy ndarray, ROS Pose) 761 | @param color name (string) or RGB color value (tuple or list) 762 | @param height (float) 763 | @param radius (float) 764 | @param lifetime (float, None = never expire) 765 | """ 766 | 767 | if (self.muted == True): 768 | return True 769 | 770 | # Convert input pose to a ROS Pose Msg 771 | if (type(pose) == numpy.matrix) or (type(pose) == numpy.ndarray): 772 | cylinder_pose = mat_to_pose(pose) 773 | elif type(pose) == Pose: 774 | cylinder_pose = pose 775 | else: 776 | rospy.logerr("Pose is unsupported type '%s' in publishCylinder()", type(pose).__name__) 777 | return False 778 | 779 | # Increment the ID number 780 | self.cylinder_marker.id += 1 781 | 782 | # Get the default parameters 783 | cylinder_marker = self.cylinder_marker 784 | 785 | if lifetime == None: 786 | cylinder_marker.lifetime = rospy.Duration(0.0) # 0 = Marker never expires 787 | else: 788 | cylinder_marker.lifetime = rospy.Duration(lifetime) # in seconds 789 | 790 | # Set the timestamp 791 | cylinder_marker.header.stamp = rospy.Time.now() 792 | 793 | # Set the pose 794 | cylinder_marker.pose = cylinder_pose 795 | 796 | # Set marker size 797 | cylinder_marker.scale.x = radius 798 | cylinder_marker.scale.y = radius 799 | cylinder_marker.scale.z = height 800 | 801 | # Set marker color 802 | cylinder_marker.color = self.getColor(color) 803 | 804 | return self.publishMarker(cylinder_marker) 805 | 806 | 807 | def publishAxis(self, pose, length, radius, lifetime=None): 808 | """ 809 | Publish an axis Marker. 810 | 811 | @param pose (numpy matrix, numpy ndarray, ROS Pose) 812 | @param length axis length (float) 813 | @param radius axis radius (float) 814 | @param lifetime (float, None = never expire) 815 | """ 816 | 817 | # Convert input pose to a numpy matrix 818 | if (type(pose) == numpy.matrix) or (type(pose) == numpy.ndarray): 819 | axis_pose = pose 820 | elif type(pose) == Pose: 821 | axis_pose = pose_to_mat(pose) 822 | else: 823 | rospy.logerr("Pose is unsupported type '%s' in publishAxis()", type(pose).__name__) 824 | return False 825 | 826 | t = tf.transformations.translation_matrix( (length/2.0, 0.0, 0.0) ) 827 | r = tf.transformations.rotation_matrix(numpy.pi/2.0, (0,1,0)) 828 | m = tf.transformations.concatenate_matrices(axis_pose, t, r) 829 | x_pose = mat_to_pose(m) 830 | self.publishCylinder(x_pose, 'red', length, radius, lifetime) 831 | 832 | t = tf.transformations.translation_matrix( (0.0, length/2.0, 0.0) ) 833 | r = tf.transformations.rotation_matrix(numpy.pi/2.0, (1,0,0)) 834 | m = tf.transformations.concatenate_matrices(axis_pose, t, r) 835 | y_pose = mat_to_pose(m) 836 | self.publishCylinder(y_pose, 'green', length, radius, lifetime) 837 | 838 | t = tf.transformations.translation_matrix( (0.0, 0.0, length/2.0) ) 839 | r = tf.transformations.rotation_matrix(0.0, (0,0,1)) 840 | m = tf.transformations.concatenate_matrices(axis_pose, t, r) 841 | z_pose = mat_to_pose(m) 842 | self.publishCylinder(z_pose, 'blue', length, radius, lifetime) 843 | 844 | return True 845 | 846 | 847 | def publishMesh(self, pose, file_name, color, scale, lifetime=None): 848 | """ 849 | Publish a mesh Marker. The mesh file can be a binary STL or collada DAE file. 850 | 851 | @param pose (numpy matrix, numpy ndarray, ROS Pose) 852 | @param file_name (string) 853 | @param color name (string) or RGB color value (tuple or list) 854 | @param scale (ROS Vector3, float) 855 | @param lifetime (float, None = never expire) 856 | """ 857 | 858 | if (self.muted == True): 859 | return True 860 | 861 | # Convert input pose to a ROS Pose Msg 862 | if (type(pose) == numpy.matrix) or (type(pose) == numpy.ndarray): 863 | mesh_pose = mat_to_pose(pose) 864 | elif type(pose) == Pose: 865 | mesh_pose = pose 866 | else: 867 | rospy.logerr("Pose is unsupported type '%s' in publishMesh()", type(pose).__name__) 868 | return False 869 | 870 | # Convert input scale to a ROS Vector3 Msg 871 | if type(scale) == Vector3: 872 | mesh_scale = scale 873 | elif type(scale) == float: 874 | mesh_scale = Vector3(scale, scale, scale) 875 | else: 876 | rospy.logerr("Scale is unsupported type '%s' in publishMesh()", type(scale).__name__) 877 | return False 878 | 879 | # Increment the ID number 880 | self.mesh_marker.id += 1 881 | 882 | # Get the default parameters 883 | mesh_marker = self.mesh_marker 884 | 885 | if lifetime == None: 886 | mesh_marker.lifetime = rospy.Duration(0.0) # 0 = Marker never expires 887 | else: 888 | mesh_marker.lifetime = rospy.Duration(lifetime) # in seconds 889 | 890 | # Set the timestamp 891 | mesh_marker.header.stamp = rospy.Time.now() 892 | 893 | # Set marker size 894 | mesh_marker.scale = mesh_scale 895 | 896 | # Set marker color 897 | if color == None: 898 | mesh_marker.color = ColorRGBA() # no color 899 | else: 900 | mesh_marker.color = self.getColor(color) 901 | 902 | # Set the pose 903 | mesh_marker.pose = mesh_pose 904 | 905 | # Set the mesh 906 | mesh_marker.mesh_resource = file_name 907 | mesh_marker.mesh_use_embedded_materials = True 908 | 909 | return self.publishMarker(mesh_marker) 910 | 911 | 912 | def publishRectangle(self, point1, point2, color, lifetime=None): 913 | """ 914 | Publish a rectangle Marker between two points. If the z-values are not the same then this will result in a cuboid. 915 | 916 | @param point1 (ROS Point) 917 | @param point2 (ROS Point) 918 | @param color name (string) or RGB color value (tuple or list) 919 | @param lifetime (float, None = never expire) 920 | """ 921 | 922 | if (self.muted == True): 923 | return True 924 | 925 | # Convert input points to ROS Point Msgs 926 | if type(point1) == Point: 927 | rect_point1 = point1 928 | else: 929 | rospy.logerr("Point1 is unsupported type '%s' in publishRectangle()", type(point1).__name__) 930 | return False 931 | if type(point2) == Point: 932 | rect_point2 = point2 933 | else: 934 | rospy.logerr("Point2 is unsupported type '%s' in publishRectangle()", type(point2).__name__) 935 | return False 936 | 937 | # Increment the ID number 938 | self.rectangle_marker.id += 1 939 | 940 | # Get the default parameters 941 | rectangle_marker = self.rectangle_marker 942 | 943 | if lifetime == None: 944 | rectangle_marker.lifetime = rospy.Duration(0.0) # 0 = Marker never expires 945 | else: 946 | rectangle_marker.lifetime = rospy.Duration(lifetime) # in seconds 947 | 948 | # Set the timestamp 949 | rectangle_marker.header.stamp = rospy.Time.now() 950 | 951 | # Set marker color 952 | rectangle_marker.color = self.getColor(color) 953 | 954 | # Calculate the center pose 955 | rect_pose = Pose() 956 | rect_pose.position.x = (rect_point1.x - rect_point2.x) / 2.0 + rect_point2.x 957 | rect_pose.position.y = (rect_point1.y - rect_point2.y) / 2.0 + rect_point2.y 958 | rect_pose.position.z = (rect_point1.z - rect_point2.z) / 2.0 + rect_point2.z 959 | rectangle_marker.pose = rect_pose 960 | 961 | # Calculate scale 962 | rectangle_marker.scale.x = numpy.fabs(rect_point1.x - rect_point2.x) 963 | rectangle_marker.scale.y = numpy.fabs(rect_point1.y - rect_point2.y) 964 | rectangle_marker.scale.z = numpy.fabs(rect_point1.z - rect_point2.z) 965 | 966 | return self.publishMarker(rectangle_marker) 967 | 968 | 969 | def publishPlane(self, pose, depth, width, color, lifetime=None): 970 | """ 971 | Publish a plane Marker. 972 | 973 | @param pose (numpy matrix, numpy ndarray, ROS Pose) 974 | @param depth (float) 975 | @param width (float) 976 | @param color name (string) or RGB color value (tuple or list) 977 | @param lifetime (float, None = never expire) 978 | """ 979 | 980 | if (self.muted == True): 981 | return True 982 | 983 | # Convert input pose to a ROS Pose Msg 984 | if (type(pose) == numpy.matrix) or (type(pose) == numpy.ndarray): 985 | rect_pose = mat_to_pose(pose) 986 | elif type(pose) == Pose: 987 | rect_pose = pose 988 | else: 989 | rospy.logerr("Pose is unsupported type '%s' in publishRectangle()", type(pose).__name__) 990 | return False 991 | 992 | # Increment the ID number 993 | self.rectangle_marker.id += 1 994 | 995 | # Get the default parameters 996 | rectangle_marker = self.rectangle_marker 997 | 998 | if lifetime == None: 999 | rectangle_marker.lifetime = rospy.Duration(0.0) # 0 = Marker never expires 1000 | else: 1001 | rectangle_marker.lifetime = rospy.Duration(lifetime) # in seconds 1002 | 1003 | # Set the timestamp 1004 | rectangle_marker.header.stamp = rospy.Time.now() 1005 | 1006 | # Set marker color 1007 | rectangle_marker.color = self.getColor(color) 1008 | 1009 | # Set the pose 1010 | rectangle_marker.pose = rect_pose 1011 | 1012 | # Set the scale 1013 | rectangle_marker.scale.x = depth 1014 | rectangle_marker.scale.y = width 1015 | rectangle_marker.scale.z = 0.0 1016 | 1017 | return self.publishMarker(rectangle_marker) 1018 | 1019 | 1020 | def publishLine(self, point1, point2, color, width, lifetime=None): 1021 | """ 1022 | Publish a line Marker between two points. 1023 | 1024 | @param point1 (ROS Point, ROS Pose, numpy matrix, numpy ndarray) 1025 | @param point2 (ROS Point, ROS Pose, numpy matrix, numpy ndarray) 1026 | @param color name (string) or RGB color value (tuple or list) 1027 | @param width (float) 1028 | @param lifetime (float, None = never expire) 1029 | """ 1030 | 1031 | if (self.muted == True): 1032 | return True 1033 | 1034 | # Convert input points to ROS Point Msgs 1035 | if type(point1) == Point: 1036 | line_point1 = point1 1037 | elif type(point1) == Pose: 1038 | position = point1.position 1039 | line_point1 = Point(position.x, position.y, position.z) 1040 | elif (type(point1) == numpy.matrix) or (type(point1) == numpy.ndarray): 1041 | pose = mat_to_pose(point1) 1042 | position = pose.position 1043 | line_point1 = Point(position.x, position.y, position.z) 1044 | else: 1045 | rospy.logerr("Point1 is unsupported type '%s' in publishLine()", type(point1).__name__) 1046 | return False 1047 | 1048 | if type(point2) == Point: 1049 | line_point2 = point2 1050 | elif type(point2) == Pose: 1051 | position = point2.position 1052 | line_point2 = Point(position.x, position.y, position.z) 1053 | elif (type(point2) == numpy.matrix) or (type(point2) == numpy.ndarray): 1054 | pose = mat_to_pose(point2) 1055 | position = pose.position 1056 | line_point2 = Point(position.x, position.y, position.z) 1057 | else: 1058 | rospy.logerr("Point2 is unsupported type '%s' in publishLine()", type(point2).__name__) 1059 | return False 1060 | 1061 | # Increment the ID number 1062 | self.line_marker.id += 1 1063 | 1064 | # Get the default parameters 1065 | line_marker = self.line_marker 1066 | 1067 | if lifetime == None: 1068 | line_marker.lifetime = rospy.Duration(0.0) # 0 = Marker never expires 1069 | else: 1070 | line_marker.lifetime = rospy.Duration(lifetime) # in seconds 1071 | 1072 | # Set the timestamp 1073 | line_marker.header.stamp = rospy.Time.now() 1074 | 1075 | # Set marker color 1076 | line_marker.color = self.getColor(color) 1077 | 1078 | # Set the start and end points 1079 | line_marker.points[:] = [] # clear 1080 | line_marker.points.append(line_point1) 1081 | line_marker.points.append(line_point2) 1082 | 1083 | # Set the line width 1084 | line_marker.scale.x = width 1085 | 1086 | return self.publishMarker(line_marker) 1087 | 1088 | 1089 | def publishPath(self, path, color, width, lifetime=None): 1090 | """ 1091 | Publish a path Marker using a set of waypoints. 1092 | 1093 | @param path (list of ROS Points) 1094 | @param color name (string) or RGB color value (tuple or list) 1095 | @param width (float) 1096 | @param lifetime (float, None = never expire) 1097 | """ 1098 | 1099 | if (self.muted == True): 1100 | return True 1101 | 1102 | # Check input 1103 | if type(path) == list: 1104 | path_path = path # :-) 1105 | else: 1106 | rospy.logerr("Path is unsupported type '%s' in publishPath()", type(path).__name__) 1107 | return False 1108 | 1109 | # Increment the ID number 1110 | self.path_marker.id += 1 1111 | 1112 | # Get the default parameters 1113 | path_marker = self.path_marker 1114 | 1115 | if lifetime == None: 1116 | path_marker.lifetime = rospy.Duration(0.0) # 0 = Marker never expires 1117 | else: 1118 | path_marker.lifetime = rospy.Duration(lifetime) # in seconds 1119 | 1120 | # Set the timestamp 1121 | path_marker.header.stamp = rospy.Time.now() 1122 | 1123 | # Set the path width 1124 | path_marker.scale.x = width 1125 | 1126 | path_color = self.getColor(color) 1127 | 1128 | # Set the path points and color 1129 | path_marker.points[:] = [] # clear 1130 | path_marker.colors[:] = [] 1131 | for i in range(1, len(path)): 1132 | 1133 | # Each path waypoint needs to be a ROS Point Msg 1134 | if type(path[i]) == Point: 1135 | # Start of segment is previous point 1136 | path_marker.points.append(path[i-1]) 1137 | path_marker.colors.append(path_color) 1138 | # End of segment is current point 1139 | path_marker.points.append(path[i]) 1140 | path_marker.colors.append(path_color) 1141 | elif type(path[i]) == Pose: 1142 | # Start of segment is previous point 1143 | position = path[i-1].position 1144 | point = Point(position.x, position.y, position.z) 1145 | path_marker.points.append(point) 1146 | path_marker.colors.append(path_color) 1147 | # End of segment is current point 1148 | position = path[i].position 1149 | point = Point(position.x, position.y, position.z) 1150 | path_marker.points.append(point) 1151 | path_marker.colors.append(path_color) 1152 | elif (type(path[i]) == numpy.matrix) or (type(path[i]) == numpy.ndarray): 1153 | # Start of segment is previous point 1154 | pose = mat_to_pose(path[i-1]) 1155 | position = pose.position 1156 | point = Point(position.x, position.y, position.z) 1157 | path_marker.points.append(point) 1158 | path_marker.colors.append(path_color) 1159 | # End of segment is current point 1160 | pose = mat_to_pose(path[i]) 1161 | position = pose.position 1162 | point = Point(position.x, position.y, position.z) 1163 | path_marker.points.append(point) 1164 | path_marker.colors.append(path_color) 1165 | else: 1166 | rospy.logerr("path list contains unsupported type '%s' in publishPath()", type(path[i]).__name__) 1167 | return False 1168 | 1169 | return self.publishMarker(path_marker) 1170 | 1171 | 1172 | def publishPolygon(self, polygon, color, width, lifetime=None): 1173 | """ 1174 | Publish a polygon Marker. 1175 | 1176 | @param polygon (ROS Polygon) 1177 | @param color name (string) or RGB color value (tuple or list) 1178 | @param width line width (float) 1179 | @param lifetime (float, None = never expire) 1180 | 1181 | a path with the start and end points connected 1182 | """ 1183 | 1184 | if (self.muted == True): 1185 | return True 1186 | 1187 | # Check input 1188 | if type(polygon) == Polygon: 1189 | polygon_msg = polygon 1190 | else: 1191 | rospy.logerr("Path is unsupported type '%s' in publishPolygon()", type(polygon).__name__) 1192 | return False 1193 | 1194 | # Copy points from ROS Polygon Msg into a list 1195 | polygon_path = [] 1196 | for i in range(0, len(polygon_msg.points)): 1197 | x = polygon_msg.points[i].x 1198 | y = polygon_msg.points[i].y 1199 | z = polygon_msg.points[i].z 1200 | polygon_path.append( Point(x,y,z) ) 1201 | 1202 | # Add the first point again 1203 | x = polygon_msg.points[0].x 1204 | y = polygon_msg.points[0].y 1205 | z = polygon_msg.points[0].z 1206 | polygon_path.append( Point(x,y,z) ) 1207 | 1208 | return self.publishPath(polygon_path, color, width, lifetime) 1209 | 1210 | 1211 | def publishSpheres(self, list_of_spheres, color, scale, lifetime=None): 1212 | """ 1213 | Publish a list of spheres. This renders smoother, flatter-looking spheres. 1214 | 1215 | @param list_of_spheres (list of numpy matrix, list of numpy ndarray, list of ROS Pose) 1216 | @param color name (string) or RGB color value (tuple or list) 1217 | @param scale (ROS Vector3, float) 1218 | @param lifetime (float, None = never expire) 1219 | """ 1220 | 1221 | if (self.muted == True): 1222 | return True 1223 | 1224 | # Check input 1225 | if type(list_of_spheres) != list: 1226 | rospy.logerr("list_of_spheres is unsupported type '%s' in publishSpheres()", type(list_of_spheres).__name__) 1227 | return False 1228 | 1229 | # Convert input scale to a ROS Vector3 Msg 1230 | if type(scale) == Vector3: 1231 | spheres_scale = scale 1232 | elif type(scale) == float: 1233 | spheres_scale = Vector3(scale, scale, scale) 1234 | else: 1235 | rospy.logerr("Scale is unsupported type '%s' in publishSpheres()", type(scale).__name__) 1236 | return False 1237 | 1238 | # Increment the ID number 1239 | self.spheres_marker.id += 1 1240 | 1241 | # Get the default parameters 1242 | spheres_marker = self.spheres_marker 1243 | 1244 | if lifetime == None: 1245 | spheres_marker.lifetime = rospy.Duration(0.0) # 0 = Marker never expires 1246 | else: 1247 | spheres_marker.lifetime = rospy.Duration(lifetime) # in seconds 1248 | 1249 | # Set the timestamp 1250 | spheres_marker.header.stamp = rospy.Time.now() 1251 | 1252 | # Set marker size 1253 | spheres_marker.scale = spheres_scale 1254 | 1255 | # Set marker color 1256 | spheres_marker.color = self.getColor(color) 1257 | 1258 | spheres_color = self.getColor(color) 1259 | #spheres_marker.color = spheres_color 1260 | 1261 | # Set the sphere positions and color 1262 | spheres_marker.points[:] = [] # clear 1263 | spheres_marker.colors[:] = [] 1264 | for i in range(0, len(list_of_spheres)): 1265 | 1266 | # Each sphere position needs to be a ROS Point Msg 1267 | if type(list_of_spheres[i]) == Pose: 1268 | spheres_marker.points.append( list_of_spheres[i].position ) 1269 | spheres_marker.colors.append(spheres_color) 1270 | elif (type(list_of_spheres[i]) == numpy.matrix) or (type(list_of_spheres[i]) == numpy.ndarray): 1271 | pose_i = mat_to_pose(list_of_spheres[i]) 1272 | spheres_marker.points.append( pose_i.position ) 1273 | spheres_marker.colors.append(spheres_color) 1274 | elif type(list_of_spheres[i]) == Point: 1275 | spheres_marker.points.append(list_of_spheres[i]) 1276 | spheres_marker.colors.append(spheres_color) 1277 | else: 1278 | rospy.logerr("list_of_sphere contains unsupported type '%s' in publishSphere()", type(list_of_spheres[i]).__name__) 1279 | return False 1280 | 1281 | return self.publishMarker(spheres_marker) 1282 | 1283 | 1284 | def publishText(self, pose, text, color, scale, lifetime=None): 1285 | """ 1286 | Publish a text Marker 1287 | 1288 | @param pose (numpy matrix, numpy ndarray, ROS Pose) 1289 | @param text (string) 1290 | @param color name (string) or RGB color value (tuple or list) 1291 | @param scale (ROS Vector3, float) 1292 | @param lifetime (float, None = never expire) 1293 | """ 1294 | 1295 | if (self.muted == True): 1296 | return True 1297 | 1298 | # Convert input pose to a ROS Pose Msg 1299 | if (type(pose) == numpy.matrix) or (type(pose) == numpy.ndarray): 1300 | text_pose = mat_to_pose(pose) 1301 | elif type(pose) == Pose: 1302 | text_pose = pose 1303 | else: 1304 | rospy.logerr("Pose is unsupported type '%s' in publishText()", type(pose).__name__) 1305 | return False 1306 | 1307 | # Convert input scale to a ROS Vector3 Msg 1308 | if type(scale) == Vector3: 1309 | text_scale = scale 1310 | elif type(scale) == float: 1311 | text_scale = Vector3(scale, scale, scale) 1312 | else: 1313 | rospy.logerr("Scale is unsupported type '%s' in publishText()", type(scale).__name__) 1314 | return False 1315 | 1316 | # Increment the ID number 1317 | self.text_marker.id += 1 1318 | 1319 | # Get the default parameters 1320 | text_marker = self.text_marker 1321 | 1322 | if lifetime == None: 1323 | text_marker.lifetime = rospy.Duration(0.0) # 0 = Marker never expires 1324 | else: 1325 | text_marker.lifetime = rospy.Duration(lifetime) # in seconds 1326 | 1327 | # Set the timestamp 1328 | text_marker.header.stamp = rospy.Time.now() 1329 | 1330 | # Set the pose 1331 | text_marker.pose = text_pose 1332 | 1333 | # Set marker size 1334 | text_marker.scale = text_scale 1335 | 1336 | # Set marker color 1337 | text_marker.color = self.getColor(color) 1338 | 1339 | text_marker.text = text 1340 | 1341 | return self.publishMarker(text_marker) 1342 | 1343 | 1344 | #------------------------------------------------------------------------------# 1345 | 1346 | 1347 | def pose_to_mat(pose): 1348 | """ 1349 | Convert a ROS Pose msg to a 4x4 matrix. 1350 | 1351 | @param pose (ROS geometry_msgs.msg.Pose) 1352 | 1353 | @return mat 4x4 matrix (numpy.matrix) 1354 | """ 1355 | 1356 | quat = [pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w] 1357 | pos = numpy.matrix([pose.position.x, pose.position.y, pose.position.z]).T 1358 | mat = numpy.matrix(tf.transformations.quaternion_matrix(quat)) 1359 | mat[0:3, 3] = pos 1360 | 1361 | return mat 1362 | 1363 | 1364 | def mat_to_pose(mat): 1365 | """ 1366 | Convert a homogeneous transformation matrix to a ROS Pose msg. 1367 | 1368 | @param mat 4x4 homogenous transform (numpy.matrix or numpy.ndarray) 1369 | 1370 | @return pose (ROS geometry_msgs.msg.Pose) 1371 | """ 1372 | 1373 | pose = Pose() 1374 | pose.position.x = mat[0,3] 1375 | pose.position.y = mat[1,3] 1376 | pose.position.z = mat[2,3] 1377 | 1378 | quat = tf.transformations.quaternion_from_matrix(mat) 1379 | pose.orientation.x = quat[0] 1380 | pose.orientation.y = quat[1] 1381 | pose.orientation.z = quat[2] 1382 | pose.orientation.w = quat[3] 1383 | 1384 | return pose 1385 | -------------------------------------------------------------------------------- /meshes/fuze_bottle_visual.dae: -------------------------------------------------------------------------------- 1 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119 19 40 120 26 40 121 14 40 122 20 41 123 28 41 124 2 41 125 31 42 126 20 42 127 8 42 128 31 43 129 8 43 130 15 43 131 31 44 132 15 44 133 21 44 134 22 45 135 9 45 136 23 45 137 9 46 138 33 46 139 96 46 140 33 47 141 16 47 142 34 47 143 11 48 144 37 48 145 35 48 146 37 49 147 24 49 148 190 49 149 17 50 150 38 50 151 24 50 152 17 51 153 41 51 154 38 51 155 18 52 156 41 52 157 17 52 158 18 53 159 25 53 160 41 53 161 27 54 162 52 54 163 28 54 164 28 55 165 52 55 166 19 55 167 29 56 168 28 56 169 20 56 170 30 57 171 20 57 172 31 57 173 30 58 174 31 58 175 184 58 176 57 59 177 31 59 178 21 59 179 21 60 180 15 60 181 22 60 182 23 61 183 9 61 184 32 61 185 32 62 186 9 62 187 96 62 188 96 63 189 33 63 190 86 63 191 34 64 192 16 64 193 172 64 194 172 65 195 16 65 196 186 65 197 16 66 198 35 66 199 186 66 200 35 67 201 37 67 202 36 67 203 24 68 204 38 68 205 190 68 206 38 69 207 39 69 208 40 69 209 38 70 210 41 70 211 39 70 212 25 71 213 42 71 214 41 71 215 18 72 216 43 72 217 25 72 218 46 73 219 45 73 220 43 73 221 49 74 222 48 74 223 26 74 224 50 75 225 49 75 226 26 75 227 51 76 228 50 76 229 52 76 230 52 77 231 50 77 232 26 77 233 53 78 234 52 78 235 27 78 236 69 79 237 28 79 238 29 79 239 20 80 240 30 80 241 54 80 242 54 81 243 30 81 244 55 81 245 30 82 246 184 82 247 55 82 248 184 83 249 31 83 250 56 83 251 56 84 252 31 84 253 57 84 254 21 85 255 22 85 256 222 85 257 23 86 258 222 86 259 22 86 260 86 87 261 33 87 262 58 87 263 59 88 264 58 88 265 34 88 266 34 89 267 58 89 268 33 89 269 172 90 270 59 90 271 34 90 272 186 91 273 35 91 274 234 91 275 35 92 276 60 92 277 234 92 278 61 93 279 60 93 280 35 93 281 61 94 282 35 94 283 185 94 284 35 95 285 36 95 286 185 95 287 36 96 288 37 96 289 62 96 290 62 97 291 37 97 292 475 97 293 37 98 294 190 98 295 475 98 296 63 99 297 138 99 298 38 99 299 190 100 300 38 100 301 138 100 302 38 101 303 40 101 304 63 101 305 39 102 306 244 102 307 40 102 308 39 103 309 41 103 310 199 103 311 199 104 312 41 104 313 64 104 314 64 105 315 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408 950 2851 250 950 2852 501 951 2853 458 951 2854 329 951 2855 461 952 2856 250 952 2857 408 952 2858 420 953 2859 158 953 2860 440 953 2861 89 954 2862 93 954 2863 478 954 2864 339 955 2865 207 955 2866 264 955 2867 333 956 2868 267 956 2869 266 956 2870 265 957 2871 421 957 2872 429 957 2873 339 958 2874 93 958 2875 207 958 2876 128 959 2877 215 959 2878 112 959 2879 119 960 2880 438 960 2881 373 960 2882 133 961 2883 95 961 2884 272 961 2885 319 962 2886 477 962 2887 362 962 2888 319 963 2889 362 963 2890 481 963 2891 144 964 2892 345 964 2893 344 964 2894 347 965 2895 361 965 2896 364 965 2897 486 966 2898 492 966 2899 483 966 2900 224 967 2901 386 967 2902 468 967 2903 98 968 2904 369 968 2905 371 968 2906 433 969 2907 471 969 2908 380 969 2909 104 970 2910 194 970 2911 357 970 2912 459 971 2913 296 971 2914 431 971 2915 304 972 2916 489 972 2917 303 972 2918 392 973 2919 414 973 2920 304 973 2921 307 974 2922 311 974 2923 109 974 2924 109 975 2925 474 975 2926 303 975 2927 303 976 2928 307 976 2929 109 976 2930 379 977 2931 102 977 2932 328 977 2933 400 978 2934 256 978 2935 382 978 2936 257 979 2937 260 979 2938 262 979 2939 368 980 2940 351 980 2941 492 980 2942 224 981 2943 343 981 2944 386 981 2945 344 982 2946 288 982 2947 365 982 2948 494 983 2949 391 983 2950 495 983 2951 392 984 2952 459 984 2953 488 984 2954 124 985 2955 158 985 2956 148 985 2957 342 986 2958 222 986 2959 161 986 2960 76 987 2961 401 987 2962 256 987 2963 462 988 2964 432 988 2965 392 988 2966 74 989 2967 427 989 2968 435 989 2969 75 990 2970 413 990 2971 497 990 2972 191 991 2973 139 991 2974 302 991 2975 424 992 2976 279 992 2977 178 992 2978 415 993 2979 499 993 2980 123 993 2981 392 994 2982 191 994 2983 459 994 2984 482 995 2985 103 995 2986 286 995 2987 430 996 2988 122 996 2989 498 996 2990 123 997 2991 395 997 2992 147 997 2993 279 998 2994 166 998 2995 178 998 2996 75 999 2997 497 999 2998 455 999 2999

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