From a27a2bd17ca163368543a97fd553859b50b56196 Mon Sep 17 00:00:00 2001 From: hello-chintan Date: Fri, 24 Feb 2023 10:47:05 -0500 Subject: [PATCH] Publish predock pose on topic predock_pose --- stretch_funmap/nodes/aruco_head_scan_action.py | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/stretch_funmap/nodes/aruco_head_scan_action.py b/stretch_funmap/nodes/aruco_head_scan_action.py index 07b2d49..2ed6996 100755 --- a/stretch_funmap/nodes/aruco_head_scan_action.py +++ b/stretch_funmap/nodes/aruco_head_scan_action.py @@ -2,7 +2,7 @@ import rospy from visualization_msgs.msg import MarkerArray -from geometry_msgs.msg import Transform, TransformStamped +from geometry_msgs.msg import Transform, TransformStamped, Pose import ros_numpy import numpy as np import tf2_ros @@ -34,6 +34,7 @@ class ArucoHeadScan(hm.HelloNode): self.result = ArucoHeadScanResult() self.aruco_marker_array = rospy.Subscriber('aruco/marker_array', MarkerArray, self.aruco_callback) self.joint_states_sub = rospy.Subscriber('/stretch/joint_states', JointState, self.joint_state_callback) + self.predock_pose_pub = rospy.Publisher('/predock_pose', Pose, queue_size=10) self.server.start() self.aruco_id = 1000 # Placeholder value, can never be true self.aruco_found = False @@ -186,6 +187,7 @@ class ArucoHeadScan(hm.HelloNode): self.tf2_broadcaster = tf2_ros.TransformBroadcaster() self.map_to_odom_transform_mat = np.identity(4) + predock_pose = Pose() while not rospy.is_shutdown(): self.tf2_broadcaster.sendTransform( create_map_to_odom_transform(self.map_to_odom_transform_mat)) @@ -196,6 +198,14 @@ class ArucoHeadScan(hm.HelloNode): self.predock_tf.header.stamp = rospy.Time.now() self.tf2_broadcaster.sendTransform(self.aruco_tf) self.tf2_broadcaster.sendTransform(self.predock_tf) + predock_pose.position.x = self.predock_tf.transform.translation.x + predock_pose.position.y = self.predock_tf.transform.translation.y + predock_pose.position.z = self.predock_tf.transform.translation.z + predock_pose.orientation.x = self.predock_tf.transform.rotation.x + predock_pose.orientation.y = self.predock_tf.transform.rotation.y + predock_pose.orientation.z = self.predock_tf.transform.rotation.z + predock_pose.orientation.w = self.predock_tf.transform.rotation.w + self.predock_pose_pub.publish(predock_pose) except AttributeError: pass rate.sleep()