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feat(#211): publish closest point in front of the car
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,59 @@ | ||
| #!/usr/bin/env python | ||
| import rospy | ||
| import ros_numpy | ||
| import numpy as np | ||
| import lidar_filter_utility | ||
| from sensor_msgs.msg import PointCloud2, Range | ||
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| class LidarDistance(): | ||
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| pub_pointcloud = rospy.Publisher('/carla/hero/LIDAR_filtered', PointCloud2) | ||
| pub_range = rospy.Publisher('/carla/hero/LIDAR_range', Range) | ||
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| def callback(self, data): | ||
| coordinates = ros_numpy.point_cloud2.pointcloud2_to_array(data) | ||
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| # https://stackoverflow.com/questions/44295375/how-to-slice-a-numpy-ndarray-made-up-of-numpy-void-numbers | ||
| bit_mask = lidar_filter_utility.bounding_box(coordinates, max_x=1, min_x=-1, min_y=1, min_z=-1.5, max_z=0) | ||
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| rospy.loginfo(len(coordinates)) | ||
| # Filter coordinates based in generated bit_mask | ||
| coordinates = coordinates[bit_mask] | ||
| rospy.loginfo(len(coordinates)) | ||
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| # Create pointcloud from manipulated data | ||
| coordinates_manipulated = ros_numpy.point_cloud2.array_to_pointcloud2(coordinates) | ||
| coordinates_manipulated.header = data.header | ||
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| # Publish manipulated pointCloud2 | ||
| self.pub_pointcloud.publish(coordinates_manipulated) | ||
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| # https://stackoverflow.com/questions/1401712/how-can-the-euclidean-distance-be-calculated-with-numpy | ||
| coordinates_xyz = np.array(lidar_filter_utility.remove_field_name(coordinates, 'intensity').tolist()) | ||
| distances = np.array([np.linalg.norm(c - [0, 0, 0]) for c in coordinates_xyz]) | ||
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| if len(distances) > 0: | ||
| range_msg = Range() | ||
| range_msg.max_range = max(distances) | ||
| range_msg.min_range = min(distances) | ||
| range_msg.range = min(distances) | ||
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| self.pub_range.publish(range_msg) | ||
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| def listener(self): | ||
| # In ROS, nodes are uniquely named. If two nodes with the same | ||
| # name are launched, the previous one is kicked off. The | ||
| # anonymous=True flag means that rospy will choose a unique | ||
| # name for our 'listener' node so that multiple listeners can | ||
| # run simultaneously. | ||
| rospy.init_node('lidar_distance', anonymous=True) | ||
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| rospy.Subscriber("/carla/hero/LIDAR", PointCloud2, self.callback) | ||
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| # spin() simply keeps python from exiting until this node is stopped | ||
| rospy.spin() | ||
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| if __name__ == '__main__': | ||
| lidar_distance = LidarDistance() | ||
| lidar_distance.listener() |
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