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grid-mapping-in-ROS/scripts/utils.py at main · lukovicaleksa/grid-mapping-in-ROS · GitHub
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utils.py
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utils.py
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#!/usr/bin/env python
from
sensor_msgs
.
msg
import
LaserScan
from
nav_msgs
.
msg
import
Odometry
from
tf
.
transformations
import
euler_from_quaternion
,
quaternion_from_euler
import
numpy
as
np
def
lidar_scan
(
msgScan
):
"""
Convert LaserScan msg to array
"""
distances
=
np
.
array
([])
angles
=
np
.
array
([])
information
=
np
.
array
([])
for
i
in
range
(
len
(
msgScan
.
ranges
)):
# angle calculation
ang
=
i
*
msgScan
.
angle_increment
# distance calculation
if
(
msgScan
.
ranges
[
i
]
>
msgScan
.
range_max
):
dist
=
msgScan
.
range_max
elif
(
msgScan
.
ranges
[
i
]
<
msgScan
.
range_min
):
dist
=
msgScan
.
range_min
else
:
dist
=
msgScan
.
ranges
[
i
]
# smaller the distance, bigger the information (measurement is more confident)
inf
=
((
msgScan
.
range_max
-
dist
)
/
msgScan
.
range_max
)
**
2
distances
=
np
.
append
(
distances
,
dist
)
angles
=
np
.
append
(
angles
,
ang
)
information
=
np
.
append
(
information
,
inf
)
# distances in [m], angles in [radians], information [0-1]
return
(
distances
,
angles
,
information
)
def
lidar_scan_xy
(
distances
,
angles
,
x_odom
,
y_odom
,
theta_odom
):
"""
Lidar measurements in X-Y plane
"""
distances_x
=
np
.
array
([])
distances_y
=
np
.
array
([])
for
(
dist
,
ang
)
in
zip
(
distances
,
angles
):
distances_x
=
np
.
append
(
distances_x
,
x_odom
+
dist
*
np
.
cos
(
ang
+
theta_odom
))
distances_y
=
np
.
append
(
distances_y
,
y_odom
+
dist
*
np
.
sin
(
ang
+
theta_odom
))
return
(
distances_x
,
distances_y
)
def
transform_orientation
(
orientation_q
):
"""
Transform theta to [radians] from [quaternion orientation]
"""
orientation_list
=
[
orientation_q
.
x
,
orientation_q
.
y
,
orientation_q
.
z
,
orientation_q
.
w
]
(
roll
,
pitch
,
yaw
)
=
euler_from_quaternion
(
orientation_list
)
if
yaw
<
0
:
yaw
=
2
*
np
.
pi
+
yaw
# 0->360 degrees >> 0->2pi
return
yaw
def
get_odom_orientation
(
msgOdom
):
""""
Get theta from Odometry msg in [radians]
"""
orientation_q
=
msgOdom
.
pose
.
pose
.
orientation
theta
=
transform_orientation
(
orientation_q
)
return
theta
def
get_odom_position
(
msgOdom
):
"""
Get (x,y) coordinates from Odometry msg in [m]
"""
x
=
msgOdom
.
pose
.
pose
.
position
.
x
y
=
msgOdom
.
pose
.
pose
.
position
.
y
return
(
x
,
y
)
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