localization.py 文件源码

def run(self):
        while self.is_looping():
            navigation_tf_msg = TFMessage()
            try:
                motion_to_robot = almath.Pose2D(self.motion.getRobotPosition(True))
                localization = self.navigation.getRobotPositionInMap()
                exploration_path = self.navigation.getExplorationPath()
            except Exception as e:
                navigation_tf_msg.transforms.append(self.get_navigation_tf(almath.Pose2D()))
                self.publishers["map_tf"].publish(navigation_tf_msg)
                self.rate.sleep()
                continue
            if len(localization) > 0 and len(localization[0]) == 3:
                navigation_to_robot = almath.Pose2D(localization[0][0], localization[0][1], localization[0][2])
                navigation_to_motion = navigation_to_robot * almath.pinv(motion_to_robot)
                navigation_tf_msg.transforms.append(self.get_navigation_tf(navigation_to_motion))
            self.publishers["map_tf"].publish(navigation_tf_msg)
            if len(localization) > 0:
                if self.publishers["uncertainty"].get_num_connections() > 0:
                    uncertainty = Marker()
                    uncertainty.header.frame_id = "/base_footprint"
                    uncertainty.header.stamp = rospy.Time.now()
                    uncertainty.type = Marker.CYLINDER
                    uncertainty.scale = Vector3(localization[1][0], localization[1][1], 0.2)
                    uncertainty.pose.position = Point(0, 0, 0)
                    uncertainty.pose.orientation = self.get_ros_quaternion(
                        almath.Quaternion_fromAngleAndAxisRotation(0, 0, 0, 1))
                    uncertainty.color = ColorRGBA(1, 0.5, 0.5, 0.5)
                    self.publishers["uncertainty"].publish(uncertainty)
            if self.publishers["map"].get_num_connections() > 0:
                aggregated_map = None
                try:
                    aggregated_map = self.navigation.getMetricalMap()
                except Exception as e:
                    print("error " + str(e))
                if aggregated_map is not None:
                    map_marker = OccupancyGrid()
                    map_marker.header.stamp = rospy.Time.now()
                    map_marker.header.frame_id = "/map"
                    map_marker.info.resolution = aggregated_map[0]
                    map_marker.info.width = aggregated_map[1]
                    map_marker.info.height = aggregated_map[2]
                    map_marker.info.origin.orientation = self.get_ros_quaternion(
                        almath.Quaternion_fromAngleAndAxisRotation(-1.57, 0, 0, 1))
                    map_marker.info.origin.position.x = aggregated_map[3][0]
                    map_marker.info.origin.position.y = aggregated_map[3][1]
                    map_marker.data = aggregated_map[4]
                    self.publishers["map"].publish(map_marker)
            if self.publishers["exploration_path"].get_num_connections() > 0:
                path = Path()
                path.header.stamp = rospy.Time.now()
                path.header.frame_id = "/map"
                for node in exploration_path:
                    current_node = PoseStamped()
                    current_node.pose.position.x = node[0]
                    current_node.pose.position.y = node[1]
                    path.poses.append(current_node)
                self.publishers["exploration_path"].publish(path)
            self.rate.sleep()