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bbox_vis.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
"""
Created on Tue Feb 26 02:02:03 2019
@author: mason
"""
''' import libraries '''
import time
import rospy
from geometry_msgs.msg import Point, PoseStamped
from visualization_msgs.msg import Marker
import sys
import signal
def signal_handler(signal, frame): # ctrl + c -> exit program
print('You pressed Ctrl+C!')
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
def pt_to_geo(x, y, z):
geo = Point()
geo.x = x
geo.y = y
geo.z = z
return geo
''' class '''
class robot():
def __init__(self):
rospy.init_node('robot_controller', anonymous=True)
self.global_marker_pub = rospy.Publisher('/exploration/bound', Marker, queue_size=10)
self.local_marker_pub = rospy.Publisher('/local/bound', Marker, queue_size=10)
self.pos_sub = rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.pose_callback)
self.rate = rospy.Rate(1)
self.global_marker = Marker()
self.global_marker.header.frame_id = "map"
self.global_marker.type = 5;
self.global_marker.scale.x = 0.1
self.global_marker.color.r = 1
self.global_marker.color.b = 1
self.global_marker.color.a = 0.6
self.global_marker.pose.orientation.w = 1
minx = -2
miny = -2
minz = -1
maxx = 10
maxy = 28
maxz = 4
self.global_marker.points.append(pt_to_geo(minx, miny, minz))
self.global_marker.points.append(pt_to_geo(minx, miny, maxz))
self.global_marker.points.append(pt_to_geo(minx, miny, minz))
self.global_marker.points.append(pt_to_geo(minx, maxy, minz))
self.global_marker.points.append(pt_to_geo(minx, miny, minz))
self.global_marker.points.append(pt_to_geo(maxx, miny, minz))
self.global_marker.points.append(pt_to_geo(maxx, miny, minz))
self.global_marker.points.append(pt_to_geo(maxx, maxy, minz))
self.global_marker.points.append(pt_to_geo(maxx, miny, minz))
self.global_marker.points.append(pt_to_geo(maxx, miny, maxz))
self.global_marker.points.append(pt_to_geo(minx, maxy, minz))
self.global_marker.points.append(pt_to_geo(minx, maxy, maxz))
self.global_marker.points.append(pt_to_geo(minx, maxy, minz))
self.global_marker.points.append(pt_to_geo(maxx, maxy, minz))
self.global_marker.points.append(pt_to_geo(maxx, maxy, minz))
self.global_marker.points.append(pt_to_geo(maxx, maxy, maxz))
self.global_marker.points.append(pt_to_geo(minx, miny, maxz))
self.global_marker.points.append(pt_to_geo(minx, maxy, maxz))
self.global_marker.points.append(pt_to_geo(minx, miny, maxz))
self.global_marker.points.append(pt_to_geo(maxx, miny, maxz))
self.global_marker.points.append(pt_to_geo(maxx, miny, maxz))
self.global_marker.points.append(pt_to_geo(maxx, maxy, maxz))
self.global_marker.points.append(pt_to_geo(maxx, maxy, maxz))
self.global_marker.points.append(pt_to_geo(minx, maxy, maxz))
self.local_marker = Marker()
self.local_marker.header.frame_id = "map"
self.local_marker.type = 5;
self.local_marker.scale.x = 0.06
self.local_marker.color.b = 1
self.local_marker.color.g = 1
self.local_marker.color.a = 0.7
self.local_marker.pose.orientation.w = 1
loc_minx = -4
loc_miny = -4
loc_minz = -1.5
loc_maxx = 4
loc_maxy = 4
loc_maxz = 1.5
self.local_marker.points.append(pt_to_geo(loc_minx, loc_miny, loc_minz))
self.local_marker.points.append(pt_to_geo(loc_minx, loc_miny, loc_maxz))
self.local_marker.points.append(pt_to_geo(loc_minx, loc_miny, loc_minz))
self.local_marker.points.append(pt_to_geo(loc_minx, loc_maxy, loc_minz))
self.local_marker.points.append(pt_to_geo(loc_minx, loc_miny, loc_minz))
self.local_marker.points.append(pt_to_geo(loc_maxx, loc_miny, loc_minz))
self.local_marker.points.append(pt_to_geo(loc_maxx, loc_miny, loc_minz))
self.local_marker.points.append(pt_to_geo(loc_maxx, loc_maxy, loc_minz))
self.local_marker.points.append(pt_to_geo(loc_maxx, loc_miny, loc_minz))
self.local_marker.points.append(pt_to_geo(loc_maxx, loc_miny, loc_maxz))
self.local_marker.points.append(pt_to_geo(loc_minx, loc_maxy, loc_minz))
self.local_marker.points.append(pt_to_geo(loc_minx, loc_maxy, loc_maxz))
self.local_marker.points.append(pt_to_geo(loc_minx, loc_maxy, loc_minz))
self.local_marker.points.append(pt_to_geo(loc_maxx, loc_maxy, loc_minz))
self.local_marker.points.append(pt_to_geo(loc_maxx, loc_maxy, loc_minz))
self.local_marker.points.append(pt_to_geo(loc_maxx, loc_maxy, loc_maxz))
self.local_marker.points.append(pt_to_geo(loc_minx, loc_miny, loc_maxz))
self.local_marker.points.append(pt_to_geo(loc_minx, loc_maxy, loc_maxz))
self.local_marker.points.append(pt_to_geo(loc_minx, loc_miny, loc_maxz))
self.local_marker.points.append(pt_to_geo(loc_maxx, loc_miny, loc_maxz))
self.local_marker.points.append(pt_to_geo(loc_maxx, loc_miny, loc_maxz))
self.local_marker.points.append(pt_to_geo(loc_maxx, loc_maxy, loc_maxz))
self.local_marker.points.append(pt_to_geo(loc_maxx, loc_maxy, loc_maxz))
self.local_marker.points.append(pt_to_geo(loc_minx, loc_maxy, loc_maxz))
def pose_callback(self, msg):
self.local_marker.pose.position = msg.pose.position
self.local_marker_pub.publish(self.local_marker)
##############################################################################################
mav_ctr = robot()
time.sleep(0.5) #wait 1 second to assure that all data comes in
''' main '''
if __name__ == '__main__':
print("STARTING VIS")
while 1:
try:
mav_ctr.global_marker_pub.publish(mav_ctr.global_marker);
mav_ctr.rate.sleep()
except (rospy.ROSInterruptException, SystemExit, KeyboardInterrupt) :
sys.exit(0)
#except:
# print("exception")
# pass