69 lines
2.3 KiB
Python
69 lines
2.3 KiB
Python
import rospy
|
|
from gazebo_msgs.srv import GetModelState
|
|
from geometry_msgs.msg import PoseStamped, Pose2D
|
|
from nav_msgs.msg import Odometry
|
|
from tf2_ros import TransformListener, Buffer
|
|
import sys
|
|
|
|
vehicle_type = sys.argv[1]
|
|
vehicle_id = sys.argv[2]
|
|
laser_slam_type = sys.argv[3]
|
|
rospy.init_node(vehicle_type+vehicle_id+'_'+laser_slam_type+'_laser_transfer')
|
|
pose_pub = rospy.Publisher(vehicle_type+'_'+ vehicle_id+"/mavros/vision_pose/pose", PoseStamped, queue_size=2)
|
|
local_pose = PoseStamped()
|
|
local_pose.header.frame_id = 'map'
|
|
laser_scan = Pose2D()
|
|
|
|
def odm_groundtruth_callback(msg):
|
|
global local_pose
|
|
local_pose.header.stamp = msg.header.stamp
|
|
local_pose.pose.position.z = msg.pose.pose.position.z
|
|
|
|
def laser_scan_matcher_callback(data):
|
|
global laser_scan
|
|
laser_scan = data
|
|
|
|
def laser_scan_matcher():
|
|
global local_pose
|
|
pose2d_sub = rospy.Subscriber(vehicle_type+'_'+ vehicle_id+"/pose2D", Pose2D, laser_scan_matcher_callback)
|
|
rate = rospy.Rate(100)
|
|
while True:
|
|
local_pose.header.stamp = rospy.Time.now()
|
|
local_pose.pose.position.x = laser_scan.x
|
|
local_pose.pose.position.y = laser_scan.y
|
|
quaternion = tf.transformations.quaternion_from_euler(0, 0, laser_scan.theta)
|
|
local_pose.pose.orientation.x = quaternion[0]
|
|
local_pose.pose.orientation.y = quaternion[1]
|
|
local_pose.pose.orientation.z = quaternion[2]
|
|
local_pose.pose.orientation.w = quaternion[3]
|
|
pose_pub.publish(local_pose)
|
|
rate.sleep()
|
|
|
|
def aloam():
|
|
global local_pose
|
|
rate = rospy.Rate(30)
|
|
while not rospy.is_shutdown():
|
|
try:
|
|
tfstamped = tfBuffer.lookup_transform('camera_init', 'aft_mapped', rospy.Time(0))
|
|
except:
|
|
continue
|
|
local_pose.header.stamp = rospy.Time().now()
|
|
local_pose.header.frame_id = 'map'
|
|
local_pose.pose.position = tfstamped.transform.translation
|
|
local_pose.pose.orientation = tfstamped.transform.rotation
|
|
pose_pub.publish(local_pose)
|
|
rate.sleep()
|
|
|
|
if __name__ == '__main__':
|
|
|
|
if laser_slam_type == '2d':
|
|
odom_groundtruth_sub = rospy.Subscriber('/xtdrone/'+vehicle_type+'_'+ vehicle_id+'/ground_truth/odom', Odometry, odm_groundtruth_callback)
|
|
laser_scan_matcher()
|
|
elif laser_slam_type == '3d':
|
|
aloam()
|
|
else:
|
|
print('input error')
|
|
|
|
|
|
|