laser.py 文件源码

def run(self):
        """ Run our code """
        rospy.loginfo("Start laser test code")

        #self.blank_image()
        #for x in range(0, 99):
        #    self.add_point(x * 1.0, x * 1.0, 10)

        #cv2.imshow("Hackme", self.img)
        #cv2.waitKey(0)

        self.joint_subscriber = rospy.Subscriber("/multisense/joint_states", JointState, self.recv_joint_state)
        self.scan_subscriber = rospy.Subscriber("/multisense/lidar_scan", LaserScan, self.recv_scan)
        self.spindle = rospy.Publisher("/multisense/set_spindle_speed", Float64, queue_size=10)

        self.set_x_range(-1.0, 1.0)
        self.set_y_range(-1.0, 1.0)
        self.set_z_range(0.0, 2.0)

        rospy.sleep(0.1)
        rospy.loginfo("Setting spindle going")
        self.spindle.publish(Float64(1.0))

        #self.zarj.zps.look_down()

        rospy.loginfo("Spin forever, hopefully receiving data...")
        while True:
            rospy.sleep(1.0)
            #print "Got cloud {}x{}".format(resp.cloud.height, resp.cloud.width)
            #img = self.create_image_from_cloud(resp.cloud.points)
            #cv2.destroyAllWindows()
            #print "New image"
            #cv2.imshow("My image", img)
            #cv2.waitKey(1)
            #print resp
            #cv_image = self.bridge.imgmsg_to_cv2(resp.cloud, "bgr8")
            #cv2.imshow("Point cloud", cv_image)