Python std_msgs.msg.ColorRGBA() Examples
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code examples of std_msgs.msg.ColorRGBA().
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Example #1
Source File: utils.py From uav_trajectory_optimizer_gurobi with BSD 3-Clause "New" or "Revised" License | 6 votes |
def getMarkerWindow(x,y,z,r,p,yaw): myMarker = Marker() myMarker.header.frame_id = "world" myMarker.header.seq = 1 myMarker.header.stamp = rospy.get_rostime() myMarker.ns = "window" myMarker.id = 1 myMarker.type = myMarker.MESH_RESOURCE # sphere myMarker.action = myMarker.ADD myMarker.pose.position.x = x myMarker.pose.position.y = y myMarker.pose.position.z = z q = quaternion_from_euler(r, p, yaw) myMarker.pose.orientation.x=q[0] myMarker.pose.orientation.y=q[1] myMarker.pose.orientation.z=q[2] myMarker.pose.orientation.w=q[3] myMarker.mesh_resource = "package://project/models/window_buena.stl"; myMarker.color=ColorRGBA(0, 1, 0, 1) myMarker.scale.x = 5; myMarker.scale.y = 5; myMarker.scale.z = 6; return myMarker
Example #2
Source File: respeaker_node.py From respeaker_ros with Apache License 2.0 | 5 votes |
def __init__(self): rospy.on_shutdown(self.on_shutdown) self.update_rate = rospy.get_param("~update_rate", 10.0) self.sensor_frame_id = rospy.get_param("~sensor_frame_id", "respeaker_base") self.doa_xy_offset = rospy.get_param("~doa_xy_offset", 0.0) self.doa_yaw_offset = rospy.get_param("~doa_yaw_offset", 90.0) self.speech_prefetch = rospy.get_param("~speech_prefetch", 0.5) self.speech_continuation = rospy.get_param("~speech_continuation", 0.5) self.speech_max_duration = rospy.get_param("~speech_max_duration", 7.0) self.speech_min_duration = rospy.get_param("~speech_min_duration", 0.1) self.main_channel = rospy.get_param('~main_channel', 0) suppress_pyaudio_error = rospy.get_param("~suppress_pyaudio_error", True) # self.respeaker = RespeakerInterface() self.respeaker_audio = RespeakerAudio(self.on_audio, suppress_error=suppress_pyaudio_error) self.speech_audio_buffer = str() self.is_speeching = False self.speech_stopped = rospy.Time(0) self.prev_is_voice = None self.prev_doa = None # advertise self.pub_vad = rospy.Publisher("is_speeching", Bool, queue_size=1, latch=True) self.pub_doa_raw = rospy.Publisher("sound_direction", Int32, queue_size=1, latch=True) self.pub_doa = rospy.Publisher("sound_localization", PoseStamped, queue_size=1, latch=True) self.pub_audio = rospy.Publisher("audio", AudioData, queue_size=10) self.pub_speech_audio = rospy.Publisher("speech_audio", AudioData, queue_size=10) self.pub_audios = {c:rospy.Publisher('audio/channel%d' % c, AudioData, queue_size=10) for c in self.respeaker_audio.channels} # init config self.config = None self.dyn_srv = Server(RespeakerConfig, self.on_config) # start self.speech_prefetch_bytes = int( self.speech_prefetch * self.respeaker_audio.rate * self.respeaker_audio.bitdepth / 8.0) self.speech_prefetch_buffer = str() self.respeaker_audio.start() self.info_timer = rospy.Timer(rospy.Duration(1.0 / self.update_rate), self.on_timer) self.timer_led = None self.sub_led = rospy.Subscriber("status_led", ColorRGBA, self.on_status_led)
Example #3
Source File: vehicle.py From ros-bridge with MIT License | 5 votes |
def get_marker_color(self): # pylint: disable=no-self-use """ Function (override) to return the color for marker messages. :return: the color used by a vehicle marker :rtpye : std_msgs.msg.ColorRGBA """ color = ColorRGBA() color.r = 255 color.g = 0 color.b = 0 return color
Example #4
Source File: actor.py From ros-bridge with MIT License | 5 votes |
def get_marker_color(self): # pylint: disable=no-self-use """ Function (override) to return the color for marker messages. :return: the color used by a walkers marker :rtpye : std_msgs.msg.ColorRGBA """ color = ColorRGBA() color.r = 0 color.g = 0 color.b = 255 return color
Example #5
Source File: ego_vehicle.py From ros-bridge with MIT License | 5 votes |
def get_marker_color(self): """ Function (override) to return the color for marker messages. The ego vehicle uses a different marker color than other vehicles. :return: the color used by a ego vehicle marker :rtpye : std_msgs.msg.ColorRGBA """ color = ColorRGBA() color.r = 0 color.g = 255 color.b = 0 return color
Example #6
Source File: localization.py From naoqi_bridge with BSD 3-Clause "New" or "Revised" License | 4 votes |
def run(self): while self.is_looping(): navigation_tf_msg = TFMessage() try: motion_to_robot = almath.Pose2D(self.motion.getRobotPosition(True)) localization = self.navigation.getRobotPositionInMap() exploration_path = self.navigation.getExplorationPath() except Exception as e: navigation_tf_msg.transforms.append(self.get_navigation_tf(almath.Pose2D())) self.publishers["map_tf"].publish(navigation_tf_msg) self.rate.sleep() continue if len(localization) > 0 and len(localization[0]) == 3: navigation_to_robot = almath.Pose2D(localization[0][0], localization[0][1], localization[0][2]) navigation_to_motion = navigation_to_robot * almath.pinv(motion_to_robot) navigation_tf_msg.transforms.append(self.get_navigation_tf(navigation_to_motion)) self.publishers["map_tf"].publish(navigation_tf_msg) if len(localization) > 0: if self.publishers["uncertainty"].get_num_connections() > 0: uncertainty = Marker() uncertainty.header.frame_id = "/base_footprint" uncertainty.header.stamp = rospy.Time.now() uncertainty.type = Marker.CYLINDER uncertainty.scale = Vector3(localization[1][0], localization[1][1], 0.2) uncertainty.pose.position = Point(0, 0, 0) uncertainty.pose.orientation = self.get_ros_quaternion( almath.Quaternion_fromAngleAndAxisRotation(0, 0, 0, 1)) uncertainty.color = ColorRGBA(1, 0.5, 0.5, 0.5) self.publishers["uncertainty"].publish(uncertainty) if self.publishers["map"].get_num_connections() > 0: aggregated_map = None try: aggregated_map = self.navigation.getMetricalMap() except Exception as e: print("error " + str(e)) if aggregated_map is not None: map_marker = OccupancyGrid() map_marker.header.stamp = rospy.Time.now() map_marker.header.frame_id = "/map" map_marker.info.resolution = aggregated_map[0] map_marker.info.width = aggregated_map[1] map_marker.info.height = aggregated_map[2] map_marker.info.origin.orientation = self.get_ros_quaternion( almath.Quaternion_fromAngleAndAxisRotation(-1.57, 0, 0, 1)) map_marker.info.origin.position.x = aggregated_map[3][0] map_marker.info.origin.position.y = aggregated_map[3][1] map_marker.data = aggregated_map[4] self.publishers["map"].publish(map_marker) if self.publishers["exploration_path"].get_num_connections() > 0: path = Path() path.header.stamp = rospy.Time.now() path.header.frame_id = "/map" for node in exploration_path: current_node = PoseStamped() current_node.pose.position.x = node[0] current_node.pose.position.y = node[1] path.poses.append(current_node) self.publishers["exploration_path"].publish(path) self.rate.sleep()