Python tf.Exception() Examples

The following are 7 code examples of tf.Exception(). You can vote up the ones you like or vote down the ones you don't like, and go to the original project or source file by following the links above each example. You may also want to check out all available functions/classes of the module tf , or try the search function .
Example #1
Source File: check_linear.py    From dashgo with Apache License 2.0 5 votes vote down vote up 
def get_position(self):
        # Get the current transform between the odom and base frames
        try:
            (trans, rot)  = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0))
        except (tf.Exception, tf.ConnectivityException, tf.LookupException):
            rospy.loginfo("TF Exception")
            return

        return Point(*trans)
Example #2
Source File: nav_grid.py    From dashgo with Apache License 2.0 5 votes vote down vote up 
def get_odom(self):
        # Get the current transform between the odom and base frames
        try:
            (trans, rot)  = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0))
        except (tf.Exception, tf.ConnectivityException, tf.LookupException):
            rospy.loginfo("TF Exception")
            return

        return (Point(*trans), quat_to_angle(Quaternion(*rot)))
Example #3
Source File: check_angular.py    From dashgo with Apache License 2.0 5 votes vote down vote up 
def get_odom_angle(self):
        # Get the current transform between the odom and base frames
        try:
            (trans, rot)  = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0))
        except (tf.Exception, tf.ConnectivityException, tf.LookupException):
            rospy.loginfo("TF Exception")
            return
        
        # Convert the rotation from a quaternion to an Euler angle
        return quat_to_angle(Quaternion(*rot))
Example #4
Source File: nav_square.py    From dashgo with Apache License 2.0 5 votes vote down vote up 
def get_odom(self):
        # Get the current transform between the odom and base frames
        try:
            (trans, rot)  = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0))
        except (tf.Exception, tf.ConnectivityException, tf.LookupException):
            rospy.loginfo("TF Exception")
            return

        return (Point(*trans), quat_to_angle(Quaternion(*rot)))
Example #5
Source File: odom_out_back.py    From dashgo with Apache License 2.0 5 votes vote down vote up 
def get_odom(self):
        # Get the current transform between the odom and base frames
        try:
            (trans, rot)  = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0))
        except (tf.Exception, tf.ConnectivityException, tf.LookupException):
            rospy.loginfo("TF Exception")
            return

        return (Point(*trans), quat_to_angle(Quaternion(*rot)))
Example #6
Source File: urdf_to_collision_object.py    From costar_plan with Apache License 2.0 5 votes vote down vote up 
def tick(self):

        #TODO: figure out why this is bad
        #if not self.listener.frameExists(self.root):
        #    rospy.logerr("missing root: %s"%self.root)
        #    return
        self.t = rospy.Time.now()

        for name, urdf in self.urdfs.items():
            if self.objs[name] == None:
                operation = CollisionObject.ADD
            else:
                operation = CollisionObject.MOVE
            if not self.listener.frameExists(name):
                #rospy.logwarn("Frame %s does not exist"%name)
                continue
            try:
                t = self.listener.getLatestCommonTime(self.root, name)
            except tf.Exception as e:
                rospy.logerr(str(e))
                continue
            dt = (self.t - t).to_sec()
            if dt > self.max_dt:
                rospy.logwarn("object %s has not been observed in the last %f seconds"%(name, dt))
                continue
            pose = self.listener.lookupTransform(self.root, name, t)
            pose = pm.fromTf(pose)
            co = _getCollisionObject(name, urdf, pose, operation)
            co.header.frame_id = self.root
            self.objs[name] = co
            self.co_pub.publish(co)
Example #7
Source File: dock_with_bin.py    From rosbook with Apache License 2.0 5 votes vote down vote up 
def dock(self, target_bin):
    self.target_bin = target_bin
    rate = rospy.Rate(10)
    while not rospy.is_shutdown():
      marker_frame = "ar_marker_%d_up" % self.target_bin
      try:
        t = self.tf_listener.getLatestCommonTime("/base_link", marker_frame)
        print "age: %.6f" % (rospy.Time.now() - t).to_sec()
        if (rospy.Time.now() - t).to_sec() > 0.2:
          rospy.sleep(0.1)
          continue
        (marker_translation, marker_orient) = self.tf_listener.lookupTransform('/base_link',marker_frame,t)
        print "marker: " + str(marker_translation)
        target_translation = Vector3(1.3, 0, 0.5)
        if (abs(marker_translation[0]) + abs(marker_translation[1])) < 0.15:
          print "close enough!"
          break;
        goal = MoveBaseGoal()
        goal.target_pose.header.frame_id = marker_frame
        goal.target_pose.pose.position.x = 0
        goal.target_pose.pose.position.y = -1.5
        orient = Quaternion(*quaternion_from_euler(0, 0, 1.57))
        goal.target_pose.pose.orientation = orient
        self.move_base.send_goal(goal)
        self.move_base.wait_for_result()
        result = self.move_base.get_result()
        nav_state = self.move_base.get_state()
        if nav_state == 3:
          print "move success! waiting to calm down before looking again..."
          rospy.sleep(1) # wait for things to calm down a bit before looking
          self.point_head_forwards()
          rospy.sleep(0.5)
          print "done waiting."
        else:
          print "move failure!"

      except(tf.Exception, tf.LookupException, 
             tf.ConnectivityException, tf.ExtrapolationException):
        rate.sleep() # not yet in view