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import numpy as np
import rospy
from gazebo_msgs.msg import ModelStates
from nav_msgs.msg import Odometry
from sensor_msgs.msg import LaserScan
from tf.transformations import euler_from_quaternion
SCAN_ANGLES = [0., np.pi / 4., -np.pi / 4., np.pi / 2., -np.pi / 2.]
CONE_WIDTH = np.pi / 180. * 3.1 # 3.1 degrees cone of view (3 rays).
class SimpleLaser:
def __init__(self, robot):
rospy.Subscriber('/robot{}/scan'.format(robot), LaserScan, self.callback)
self._angles = SCAN_ANGLES
self._width = CONE_WIDTH
self._measurements = [float('inf')] * len(self._angles)
self._indices = None
def callback(self, msg):
# Helper for angles.
def _within(x, a, b):
pi2 = np.pi * 2.
x %= pi2
a %= pi2
b %= pi2
if a < b:
return a <= x and x <= b
return a <= x or x <= b;
# Compute indices the first time.
if self._indices is None:
self._indices = [[] for _ in range(len(self._angles))]
for i, d in enumerate(msg.ranges):
angle = msg.angle_min + i * msg.angle_increment
for j, center_angle in enumerate(self._angles):
if _within(angle, center_angle - self._width / 2., center_angle + self._width / 2.):
self._indices[j].append(i)
ranges = np.array(msg.ranges)
for i, idx in enumerate(self._indices):
# We do not take the minimum range of the cone but the 10-th percentile for robustness.
self._measurements[i] = np.percentile(ranges[idx], 10)
@property
def ready(self):
return not np.isnan(self._measurements[0])
@property
def measurements(self):
return self._measurements
class Motion:
def __init__(self, robot):
self._previous_time = None
self._delta_pose = np.array([0., 0., 0.], dtype=np.float32)
rospy.Subscriber('/robot{}/odom'.format(robot), Odometry, self.callback)
def callback(self, msg):
u = msg.twist.twist.linear.x
w = msg.twist.twist.angular.z
if self._previous_time is None:
self._previous_time = msg.header.stamp
current_time = msg.header.stamp
dt = (current_time - self._previous_time).to_sec()
self._delta_pose[0] += u * dt
self._delta_pose[1] += 0.
self._delta_pose[2] += w * dt
self._previous_time = current_time
@property
def ready(self):
return True
@property
def delta_pose(self):
ret = self._delta_pose.copy()
self._delta_pose[:] = 0
return ret
class SimpleLaser:
def __init__(self, robot):
rospy.Subscriber('/robot{}/scan'.format(robot), LaserScan, self.callback)
self._angles = SCAN_ANGLES
self._width = CONE_WIDTH
self._measurements = [float('inf')] * len(self._angles)
self._indices = None
def callback(self, msg):
# Helper for angles.
def _within(x, a, b):
pi2 = np.pi * 2.
x %= pi2
a %= pi2
b %= pi2
if a < b:
return a <= x and x <= b
return a <= x or x <= b;
# Compute indices the first time.
if self._indices is None:
self._indices = [[] for _ in range(len(self._angles))]
for i, d in enumerate(msg.ranges):
angle = msg.angle_min + i * msg.angle_increment
for j, center_angle in enumerate(self._angles):
if _within(angle, center_angle - self._width / 2., center_angle + self._width / 2.):
self._indices[j].append(i)
ranges = np.array(msg.ranges)
for i, idx in enumerate(self._indices):
# We do not take the minimum range of the cone but the 10-th percentile for robustness.
self._measurements[i] = np.percentile(ranges[idx], 10)
@property
def ready(self):
return not np.isnan(self._measurements[0])
@property
def measurements(self):
return self._measurements
class Motion(object):
def __init__(self, robot):
self._previous_time = None
self._delta_pose = np.array([0., 0., 0.], dtype=np.float32)
rospy.Subscriber('/robot{}/odom'.format(robot), Odometry, self.callback)
def callback(self, msg):
u = msg.twist.twist.linear.x
w = msg.twist.twist.angular.z
if self._previous_time is None:
self._previous_time = msg.header.stamp
current_time = msg.header.stamp
dt = (current_time - self._previous_time).to_sec()
self._delta_pose[0] += u * dt
self._delta_pose[1] += 0.
self._delta_pose[2] += w * dt
self._previous_time = current_time
@property
def ready(self):
return True
@property
def delta_pose(self):
ret = self._delta_pose.copy()
self._delta_pose[:] = 0
return ret
class GroundtruthPose:
def __init__(self, robot):
rospy.Subscriber('/gazebo/model_states', ModelStates, self.callback)
self._pose = np.array([np.nan, np.nan, np.nan], dtype=np.float32)
self._name = 'Robot{}'.format(robot)
def callback(self, msg):
idx = [i for i, n in enumerate(msg.name) if n == self._name]
if not idx:
raise ValueError('Specified name "{}" does not exist.'.format(self._name))
idx = idx[0]
self._pose[0] = msg.pose[idx].position.x
self._pose[1] = msg.pose[idx].position.y
_, _, yaw = euler_from_quaternion([
msg.pose[idx].orientation.x,
msg.pose[idx].orientation.y,
msg.pose[idx].orientation.z,
msg.pose[idx].orientation.w])
self._pose[2] = yaw
@property
def ready(self):
return not np.isnan(self._pose[0])
@property
def pose(self):
return self._pose
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