我们从Python开源项目中，提取了以下13个代码示例，用于说明如何使用geometry_msgs.msg.PoseArray()。
def convertMsgToPoseArray(time, id_list, detection_msg): # return each robot's PoseArray # instatinate PoseMaker robot_poses = {} for i in id_list: robot_poses[i] = PoseMaker(time, 'map') # change detection_msg to PoseArray for robot in detection_msg: if robot.robot_id in id_list: robot_poses[robot.robot_id].add(robot) # align PoseArrays pose_arrays = {} for i in id_list: pose_arrays[i] = robot_poses[i].get() return pose_arrays
def __init__(self): State.__init__(self, outcomes=['success'], input_keys=['waypoints'], output_keys=['waypoints']) # Create publsher to publish waypoints as pose array so that you can see them in rviz, etc. self.poseArray_publisher = rospy.Publisher('/waypoints', PoseArray, queue_size=1) # Start thread to listen for reset messages to clear the waypoint queue def wait_for_path_reset(): """thread worker function""" global waypoints while not rospy.is_shutdown(): data = rospy.wait_for_message('/path_reset', Empty) rospy.loginfo('Recieved path RESET message') self.initialize_path_queue() rospy.sleep(3) # Wait 3 seconds because `rostopic echo` latches # for three seconds and wait_for_message() in a # loop will see it again. reset_thread = threading.Thread(target=wait_for_path_reset) reset_thread.start()
def _publish_grasps(self, grasps): """ Publish grasps as poses, using a PoseArray message """ if self._grasps_pub.get_num_connections() > 0: msg = PoseArray() msg.header.frame_id = self._robot.get_planning_frame() msg.header.stamp = rospy.Time.now() for grasp in grasps: p = grasp.grasp_pose.pose msg.poses.append(Pose(p.position, p.orientation)) self._grasps_pub.publish(msg)
def __init__(self, team_side, topic_name): if team_side == 'LEFT': self.side_coeff = 1 else: self.side_coeff = -1 self.pub = rospy.Publisher(topic_name, PoseArray, queue_size=10)
def __init__(self, time, frame_id): super(PoseMaker, self).__init__() self.pose_array = PoseArray() self.pose_array.header.stamp = time self.pose_array.header.frame_id = frame_id
def convert_PoseWithCovArray_to_PoseArray(waypoints): """Used to publish waypoints as pose array so that you can see them in rviz, etc.""" poses = PoseArray() poses.header.frame_id = 'map' poses.poses = [pose.pose.pose for pose in waypoints] return poses
def __init__(self): self.sub = rospy.Subscriber('/finger_sensor_test/blockpose', PoseArray, self.update) self.pose = None
def publish_particles(self, particles): # publish the given particles as a PoseArray object pa = PoseArray() pa.header = Utils.make_header("map") pa.poses = Utils.particles_to_poses(particles) self.particle_pub.publish(pa)
def __init__(self, frequency): self.tag_names = rospy.get_param("tag_names") self.frame_id = rospy.get_param("~frame_id") self.transforms = rospy.get_param("tags") self.rate = rospy.Rate(frequency) #self.sub = rospy.Subscriber(self.tag_position_topic, PoseArray, self.tag_position_cb) self.br = tf.TransformBroadcaster() self.make_transforms()
def _publish_places(self, places): """ Publish places as poses, using a PoseArray message """ if self._places_pub.get_num_connections() > 0: msg = PoseArray() msg.header.frame_id = self._robot.get_planning_frame() msg.header.stamp = rospy.Time.now() for place in places: msg.poses.append(place.place_pose.pose) self._places_pub.publish(msg)
def publish_particles(self, particles): pa = PoseArray() pa.header = Utils.make_header("map") pa.poses = Utils.particles_to_poses(particles) self.particle_pub.publish(pa)
