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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,68 +1,77 @@ | ||
| { | ||
| "cmake.sourceDirectory": "${workspaceRoot}/fast_raycast", | ||
| "files.associations": { | ||
| "*.p": "python", | ||
| "eigen": "cpp", | ||
| "cctype": "cpp", | ||
| "clocale": "cpp", | ||
| "cmath": "cpp", | ||
| "cstdarg": "cpp", | ||
| "cstddef": "cpp", | ||
| "cstdio": "cpp", | ||
| "cstdlib": "cpp", | ||
| "cstring": "cpp", | ||
| "ctime": "cpp", | ||
| "cwchar": "cpp", | ||
| "cwctype": "cpp", | ||
| "array": "cpp", | ||
| "atomic": "cpp", | ||
| "strstream": "cpp", | ||
| "*.tcc": "cpp", | ||
| "bitset": "cpp", | ||
| "chrono": "cpp", | ||
| "complex": "cpp", | ||
| "cstdint": "cpp", | ||
| "deque": "cpp", | ||
| "list": "cpp", | ||
| "unordered_map": "cpp", | ||
| "vector": "cpp", | ||
| "exception": "cpp", | ||
| "fstream": "cpp", | ||
| "functional": "cpp", | ||
| "initializer_list": "cpp", | ||
| "iomanip": "cpp", | ||
| "iosfwd": "cpp", | ||
| "iostream": "cpp", | ||
| "istream": "cpp", | ||
| "limits": "cpp", | ||
| "new": "cpp", | ||
| "ostream": "cpp", | ||
| "numeric": "cpp", | ||
| "ratio": "cpp", | ||
| "sstream": "cpp", | ||
| "stdexcept": "cpp", | ||
| "streambuf": "cpp", | ||
| "system_error": "cpp", | ||
| "thread": "cpp", | ||
| "cfenv": "cpp", | ||
| "cinttypes": "cpp", | ||
| "tuple": "cpp", | ||
| "type_traits": "cpp", | ||
| "utility": "cpp", | ||
| "typeinfo": "cpp", | ||
| "algorithm": "cpp", | ||
| "iterator": "cpp", | ||
| "map": "cpp", | ||
| "memory": "cpp", | ||
| "memory_resource": "cpp", | ||
| "optional": "cpp", | ||
| "random": "cpp", | ||
| "set": "cpp", | ||
| "string": "cpp", | ||
| "string_view": "cpp", | ||
| "cassert": "cpp", | ||
| "csignal": "cpp", | ||
| "typeindex": "cpp", | ||
| "core": "cpp" | ||
| "cmake.sourceDirectory": "${workspaceRoot}/fast_raycast", | ||
| "files.associations": { | ||
| "*.p": "python", | ||
| "eigen": "cpp", | ||
| "cctype": "cpp", | ||
| "clocale": "cpp", | ||
| "cmath": "cpp", | ||
| "cstdarg": "cpp", | ||
| "cstddef": "cpp", | ||
| "cstdio": "cpp", | ||
| "cstdlib": "cpp", | ||
| "cstring": "cpp", | ||
| "ctime": "cpp", | ||
| "cwchar": "cpp", | ||
| "cwctype": "cpp", | ||
| "array": "cpp", | ||
| "atomic": "cpp", | ||
| "strstream": "cpp", | ||
| "*.tcc": "cpp", | ||
| "bitset": "cpp", | ||
| "chrono": "cpp", | ||
| "complex": "cpp", | ||
| "cstdint": "cpp", | ||
| "deque": "cpp", | ||
| "list": "cpp", | ||
| "unordered_map": "cpp", | ||
| "vector": "cpp", | ||
| "exception": "cpp", | ||
| "fstream": "cpp", | ||
| "functional": "cpp", | ||
| "initializer_list": "cpp", | ||
| "iomanip": "cpp", | ||
| "iosfwd": "cpp", | ||
| "iostream": "cpp", | ||
| "istream": "cpp", | ||
| "limits": "cpp", | ||
| "new": "cpp", | ||
| "ostream": "cpp", | ||
| "numeric": "cpp", | ||
| "ratio": "cpp", | ||
| "sstream": "cpp", | ||
| "stdexcept": "cpp", | ||
| "streambuf": "cpp", | ||
| "system_error": "cpp", | ||
| "thread": "cpp", | ||
| "cfenv": "cpp", | ||
| "cinttypes": "cpp", | ||
| "tuple": "cpp", | ||
| "type_traits": "cpp", | ||
| "utility": "cpp", | ||
| "typeinfo": "cpp", | ||
| "algorithm": "cpp", | ||
| "iterator": "cpp", | ||
| "map": "cpp", | ||
| "memory": "cpp", | ||
| "memory_resource": "cpp", | ||
| "optional": "cpp", | ||
| "random": "cpp", | ||
| "set": "cpp", | ||
| "string": "cpp", | ||
| "string_view": "cpp", | ||
| "cassert": "cpp", | ||
| "csignal": "cpp", | ||
| "typeindex": "cpp", | ||
| "core": "cpp", | ||
| "unordered_set": "cpp", | ||
| "hash_map": "cpp", | ||
| "hash_set": "cpp", | ||
| "codecvt": "cpp", | ||
| "filesystem": "cpp" | ||
| }, | ||
| "python.autoComplete.extraPaths": [ | ||
| "/home/orestis/dut18d_ws/DUT18D_ws/devel/lib/python2.7/dist-packages", | ||
| "/opt/ros/melodic/lib/python2.7/dist-packages" | ||
| ] | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| #!/usr/bin/env python | ||
| import rospy | ||
| import rosbag | ||
| import csv | ||
| from geometry_msgs.msg import Point, Pose | ||
|
|
||
| # time of last world state message | ||
| msg_time = rospy.Time(1565423386, 883208788) | ||
|
|
||
| bag = rosbag.Bag("/home/bedskes/rosbags/fsg_trackdrive.bag") | ||
| cones = [] | ||
| for topic, msg, t in bag.read_messages(topics = ['/world_state'], start_time = msg_time, end_time = msg_time): | ||
| objects = msg.objects | ||
| for object in objects: | ||
| for property in object.properties: | ||
| if property.attribute == "position": | ||
| cones.append(Point(property.pdf.data[1], property.pdf.data[2], 0.29)) | ||
|
|
||
| with open('fast_raycast/src/test2.csv', mode = 'w') as cone_file: | ||
| cone_writer = csv.writer(cone_file, delimiter=',') | ||
| for cone in cones: | ||
| cone_writer.writerow([cone.x, cone.y, cone.z]) | ||
| print("GOT CONES") | ||
|
|
||
| positions = [] | ||
| for topic, msg, t in bag.read_messages(topics = ['/tf']): | ||
| for tf in msg.transforms: | ||
| if tf.header.frame_id == "map" and tf.child_frame_id == "base_link": | ||
| pos = Pose() | ||
| pos.position = tf.transform.translation | ||
| pos.position.z = 0 | ||
| pos.orientation = tf.transform.rotation | ||
| positions.append(pos) | ||
|
|
||
| # output to csv with position, orientation: x, y, z, x, y, z, w | ||
| with open('fast_raycast/src/test_positions.csv', mode = 'w') as position_file: | ||
| position_writer = csv.writer(position_file, delimiter=',') | ||
| for pos in positions: | ||
| position_writer.writerow([pos.position.x, | ||
| pos.position.y, | ||
| pos.position.z, | ||
| pos.orientation.x, | ||
| pos.orientation.y, | ||
| pos.orientation.z, | ||
| pos.orientation.w]) | ||
| print("GOT POSITIONS") |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| frame_id: "base_link" | ||
| child_frame_id: "velodyne" | ||
| transform: | ||
| translation: | ||
| x: 1.33 | ||
| y: 0.0 | ||
| z: 0.085 | ||
| rotation: | ||
| x: 0.0 | ||
| y: 0.0 | ||
| z: 0.0 | ||
| w: 1.0 |
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