From 6f3ec54c54fcab2f23fb44cd9ca2489a98536fcc Mon Sep 17 00:00:00 2001 From: Patrick Schmelter Date: Tue, 28 Jan 2020 18:58:15 +0100 Subject: [PATCH] #70 plot the scanned points --- .../playground/wallfollowing.ipynb | 2658 ++++++++++++++++- 1 file changed, 2617 insertions(+), 41 deletions(-) diff --git a/ros_ws/src/autonomous/wallfollowing2/playground/wallfollowing.ipynb b/ros_ws/src/autonomous/wallfollowing2/playground/wallfollowing.ipynb index a7b1d49b..69a0e4ac 100644 --- a/ros_ws/src/autonomous/wallfollowing2/playground/wallfollowing.ipynb +++ b/ros_ws/src/autonomous/wallfollowing2/playground/wallfollowing.ipynb @@ -25,7 +25,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 62, + "execution_count": 10, "metadata": {}, "outputs": [], "source": [ @@ -35,12 +35,13 @@ "import pandas as pd\n", "from math import atan2\n", "from collections import namedtuple\n", - "from circle_fit import hyper_fit" + "from circle_fit import hyper_fit\n", + "import plotly.graph_objects as go" ] }, { "cell_type": "code", - "execution_count": 63, + "execution_count": 2, "metadata": {}, "outputs": [], "source": [ @@ -53,7 +54,7 @@ }, { "cell_type": "code", - "execution_count": 123, + "execution_count": 3, "metadata": {}, "outputs": [], "source": [ @@ -79,7 +80,7 @@ }, { "cell_type": "code", - "execution_count": 124, + "execution_count": 4, "metadata": {}, "outputs": [], "source": [ @@ -96,7 +97,7 @@ }, { "cell_type": "code", - "execution_count": 126, + "execution_count": 5, "metadata": {}, "outputs": [], "source": [ @@ -136,7 +137,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 6, "metadata": {}, "outputs": [], "source": [ @@ -170,7 +171,7 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 7, "metadata": {}, "outputs": [], "source": [ @@ -185,7 +186,7 @@ }, { "cell_type": "code", - "execution_count": 131, + "execution_count": 20, "metadata": {}, "outputs": [], "source": [ @@ -208,56 +209,2631 @@ " barrier_end = int(points.shape[0] * (0.5 + parameters.barrier_size_realtive))\n", " barrier = np.max(points[barrier_start: barrier_end, 1])\n", "\n", - " print(\"follow_walls(%s, %s, %s, %s)\" % (left_circle, right_circle, barrier, delta_time))\n", + " # follow_walls(left_circle, right_circle, barrier, delta_time)\n", "\n", - " print(\"show_circle_in_rviz(%s, %s, %s)\" % (left_circle, left_wall, 0))\n", - " print(\"show_circle_in_rviz(%s, %s, %s)\" % (right_circle, right_wall, 1))" - ] - }, - { - "cell_type": "code", - "execution_count": 132, - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": "follow_walls(<__main__.Circle object at 0x122b4d358>, <__main__.Circle object at 0x122b4d198>, 3.1684158950919716, 0)\nshow_circle_in_rviz(<__main__.Circle object at 0x122b4d358>, [[-0.48464823 1.07587916]\n [-0.47903671 1.01570315]\n [-0.4851907 0.9838694 ]\n [-0.50045622 0.97169578]\n [-0.51923168 0.96633714]\n [-0.52771096 0.94229572]\n [-0.53097778 0.91048264]\n [-0.50372884 0.83011944]\n [-0.51280356 0.81274446]\n [-0.55103469 0.84046758]\n [-0.54479517 0.80013887]\n [-0.53732217 0.76029328]\n [-0.52803952 0.72015504]\n [-0.52963224 0.69650175]\n [-0.51880073 0.65809559]\n [-0.50996049 0.62416047]\n [-0.51754531 0.61134921]\n [-0.51428972 0.58643503]\n [-0.52310138 0.5758897 ]\n [-0.52827611 0.56157404]\n [-0.51776051 0.53149603]\n [-0.51843534 0.51393076]\n [-0.5128784 0.49097425]\n [-0.52283764 0.48330614]\n [-0.52074806 0.46478541]\n [-0.52726521 0.45432077]\n [-0.52511899 0.43673686]\n [-0.5186232 0.41623912]\n [-0.52027373 0.40283896]\n [-0.51760999 0.38651771]\n [-0.52752307 0.37976227]\n [-0.52338912 0.36308795]\n [-0.52133143 0.34834252]\n [-0.51387484 0.3305354 ]\n [-0.52381697 0.32414777]\n [-0.51650326 0.30728715]\n [-0.51744651 0.29574504]\n [-0.52515931 0.28811226]\n [-0.52833762 0.27797187]\n [-0.52953651 0.26690837]\n [-0.52420639 0.25284715]\n [-0.53308006 0.24575327]\n [-0.52630409 0.23157934]\n [-0.52842117 0.22158538]\n [-0.53406548 0.21307052]\n [-0.5227406 0.19804869]\n [-0.5289409 0.18990919]\n [-0.51702385 0.17550595]\n [-0.52857968 0.16919969]\n [-0.52283397 0.15735516]\n [-0.52068829 0.14684928]\n [-0.51930367 0.13672124]\n [-0.52063936 0.12739964]\n [-0.5227835 0.11829383]\n [-0.53260077 0.11078112]\n [-0.51775137 0.09829817]\n [-0.5292436 0.09094068]\n [-0.53173848 0.08184238]\n [-0.52912237 0.07201039]\n [-0.53029854 0.06276497]\n [-0.53230818 0.05360061]\n [-0.5511007 0.04579293]\n [-0.52986311 0.03472906]\n [-0.52739195 0.02533245]\n [-0.53974816 0.0164908 ]\n [-0.53595409 0.00701602]\n [-0.53599491 -0.00233874]\n [-0.54087127 -0.01180186]\n [-0.53758521 -0.02112178]\n [-0.54212666 -0.03078418]\n [-0.53851512 -0.04001859]\n [-0.54968431 -0.05050889]\n [-0.53679044 -0.05878812]\n [-0.52774664 -0.06713785]\n [-0.53837038 -0.07805999]\n [-0.54284801 -0.08840842]\n [-0.55303085 -0.10000427]\n [-0.54629738 -0.10866531]\n [-0.54138605 -0.11754644]\n [-0.53730534 -0.12651862]\n [-0.54567702 -0.13858431]\n [-0.5402809 -0.14729748]\n [-0.54242816 -0.15810339]\n [-0.54531637 -0.16932524]\n [-0.54227818 -0.17881653]\n [-0.54096302 -0.18891275]], 0)\nshow_circle_in_rviz(<__main__.Circle object at 0x122b4d198>, [[ 6.90674088e-01 -2.51384814e-01]\n [ 6.76991318e-01 -2.33106809e-01]\n [ 6.98075508e-01 -2.26818486e-01]\n [ 6.82801582e-01 -2.08753396e-01]\n [ 6.88263393e-01 -1.97356356e-01]\n [ 6.80977691e-01 -1.82467426e-01]\n [ 6.98612950e-01 -1.74183775e-01]\n [ 7.00572058e-01 -1.61739807e-01]\n [ 6.99375508e-01 -1.48656857e-01]\n [ 6.74377852e-01 -1.31085778e-01]\n [ 6.90350210e-01 -1.21727371e-01]\n [ 6.68664992e-01 -1.05906134e-01]\n [ 6.83284965e-01 -9.60294423e-02]\n [ 6.85849375e-01 -8.42117174e-02]\n [ 6.65335177e-01 -6.99295478e-02]\n [ 6.77412402e-01 -5.92659085e-02]\n [ 6.77346010e-01 -4.73646499e-02]\n [ 7.07029715e-01 -3.70538601e-02]\n [ 6.78586391e-01 -2.36967617e-02]\n [ 6.99893375e-01 -1.22166871e-02]\n [ 6.66999996e-01 -2.64917070e-09]\n [ 6.86895343e-01 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"source": [ - "# lastly start the wallfollowing\n", - "handle_scan(scan_message, delta_time)" + " # show_circle_in_rviz(left_circle, left_wall, 0)\n", + " # show_circle_in_rviz(right_circle, right_wall, 1)\n", + "\n", + " plot(points, right_wall, left_wall, right_circle, left_circle, barrier)" ] }, { "cell_type": "code", - "execution_count": 111, + "execution_count": 25, "metadata": {}, "outputs": [], "source": [ - "\n" + "def plot(points, right_wall, left_wall, right_circle, left_circle, barrier):\n", + " fig = go.Figure()\n", + "\n", + " fig.add_trace(go.Scatter(x=[i[0] for i in points], y=[i[1] for i in points],\n", + " mode='markers',\n", + " name='markers'))\n", + " #fig.add_trace(go.Scatter(x=random_x, y=random_y2,\n", + " # mode='lines',\n", + " # name='lines'))\n", + "\n", + " fig.show()" ] }, { "cell_type": "code", - "execution_count": 57, + "execution_count": 26, "metadata": {}, "outputs": [ { - "ename": "NameError", - "evalue": "name 'rosbag_pandas' is not defined", - "output_type": "error", - "traceback": [ - "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", - "\u001b[0;31mNameError\u001b[0m Traceback (most recent call last)", - "\u001b[0;32m\u001b[0m in \u001b[0;36m\u001b[0;34m\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0mdf_include\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mrosbag_pandas\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mbag_to_dataframe\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'samples/first_test/2020-01-15-10-54-28.bag'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0minclude\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;34m'/scan'\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m", - "\u001b[0;31mNameError\u001b[0m: name 'rosbag_pandas' is not defined" - ] + "data": { + "application/vnd.plotly.v1+json": { + "config": { + "plotlyServerURL": "https://plot.ly" + }, + "data": [ + { + "mode": "markers", + "name": 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}, + "title": { + "x": 0.05 + }, + "xaxis": { + "automargin": true, + "gridcolor": "white", + "linecolor": "white", + "ticks": "", + "title": { + "standoff": 15 + }, + "zerolinecolor": "white", + "zerolinewidth": 2 + }, + "yaxis": { + "automargin": true, + "gridcolor": "white", + "linecolor": "white", + "ticks": "", + "title": { + "standoff": 15 + }, + "zerolinecolor": "white", + "zerolinewidth": 2 + } + } + } + } + } + }, + "metadata": {}, + "output_type": "display_data" } ], "source": [ - "df_include = rosbag_pandas.bag_to_dataframe('samples/first_test/2020-01-15-10-54-28.bag', include=['/scan'])" + "# lastly start the wallfollowing\n", + "handle_scan(scan_message, delta_time)" ] }, {