training_helper.py 文件源码

def capture_sample():
    """ Captures a PointCloud2 using the sensor stick RGBD camera

        Args: None

        Returns:
            PointCloud2: a single point cloud from the RGBD camrea
    """
    get_model_state_prox = rospy.ServiceProxy('gazebo/get_model_state',GetModelState)
    model_state = get_model_state_prox('training_model','world')

    set_model_state_prox = rospy.ServiceProxy('gazebo/set_model_state', SetModelState)

    roll = random.uniform(0, 2*math.pi)
    pitch = random.uniform(0, 2*math.pi)
    yaw = random.uniform(0, 2*math.pi)
    quaternion = tf.transformations.quaternion_from_euler(roll, pitch, yaw)
    model_state.pose.orientation.x = quaternion[0]
    model_state.pose.orientation.y = quaternion[1]
    model_state.pose.orientation.z = quaternion[2]
    model_state.pose.orientation.w = quaternion[3]
    sms_req = SetModelStateRequest()
    sms_req.model_state.pose = model_state.pose
    sms_req.model_state.twist = model_state.twist
    sms_req.model_state.model_name = 'training_model'
    sms_req.model_state.reference_frame = 'world'
    set_model_state_prox(sms_req)

    return rospy.wait_for_message('/sensor_stick/point_cloud', PointCloud2)