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AndreasR30AndreasR30
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point_cloud_common: add test script and rviz config to verify correct behavior of "continuous transform" option
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‎src/test/point_cloud_test.py‎

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#!/usr/bin/env python
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# This program publishes a pointcloud2 to test rviz rendering
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from __future__ import print_function
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import rospy
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import numpy as np
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from sensor_msgs import point_cloud2
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from sensor_msgs.msg import PointCloud2
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from sensor_msgs.msg import PointField
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from std_msgs.msg import Header
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import math
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import time
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from geometry_msgs.msg import TransformStamped
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from tf2_ros.transform_broadcaster import TransformBroadcaster
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from tf.transformations import quaternion_from_euler
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from visualization_msgs.msg import Marker
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RATE = 30
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width = 100
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height = 100
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def generate_point_cloud():
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fields = [
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PointField("x", 0, PointField.FLOAT32, 1),
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PointField("y", 4, PointField.FLOAT32, 1),
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PointField("z", 8, PointField.FLOAT32, 1),
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PointField("intensity", 12, PointField.FLOAT32, 1),
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]
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header = Header()
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header.frame_id = "map"
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header.stamp = rospy.Time.now()
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x, y = np.meshgrid(np.linspace(-2, 2, width), np.linspace(-2, 2, height))
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z = 0.5 * np.sin(2 * x) * np.sin(3 * y)
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points = np.array([x, y, z, z]).reshape(4, -1).T
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return point_cloud2.create_cloud(header, fields, points)
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def draw_eight(elapsed_time, full_cycle_duration=10, scale=10):
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# lemniscate of Gerono
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progress = (elapsed_time % full_cycle_duration) / full_cycle_duration
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t = -0.5 * math.pi + progress * (2 * math.pi)
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x = math.cos(t) * scale
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y = math.sin(t) * math.cos(t) * scale
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dx_dt = -math.sin(t)
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dy_dt = math.cos(t) * math.cos(t) - math.sin(t) * math.sin(t)
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yaw = math.atan2(dy_dt, dx_dt)
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return x, y, yaw
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def display_dummy_robot(stamp):
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marker = Marker()
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marker.header.frame_id = "base_link"
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marker.header.stamp = stamp
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marker.ns = "robot"
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marker.id = 0
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marker.type = Marker.CUBE
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marker.action = Marker.ADD
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marker.pose.position.x = 0
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marker.pose.position.y = 0
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marker.pose.position.z = 0
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marker.pose.orientation.x = 0.0
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marker.pose.orientation.y = 0.0
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marker.pose.orientation.z = 0.0
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marker.pose.orientation.w = 1.0
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marker.scale.x = 1
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marker.scale.y = 1
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marker.scale.z = 1
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marker.color.a = 1.0
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marker.color.r = 0.0
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marker.color.g = 1.0
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marker.color.b = 0.0
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vis_pub.publish(marker)
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if __name__ == "__main__":
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rospy.init_node("point_cloud_test")
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tf_broadcaster = TransformBroadcaster()
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vis_pub = rospy.Publisher("robot/marker", Marker, queue_size=5)
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pc_pub = rospy.Publisher("points2", PointCloud2, queue_size=5)
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pc = generate_point_cloud()
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i = 0
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rate = rospy.Rate(RATE)
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start = rospy.Time.now()
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while not rospy.is_shutdown():
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now = rospy.Time.now()
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if i % RATE == 0:
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# publish just once per second
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pc.header.stamp = now
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pc_pub.publish(pc)
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i += 1
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robot_x, robot_y, robot_yaw = draw_eight((now - start).to_sec())
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q = quaternion_from_euler(0, 0, robot_yaw)
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tf = TransformStamped()
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tf.header.frame_id = "map"
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tf.header.stamp = now
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tf.child_frame_id = "base_link"
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tf.transform.translation.x = robot_x
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tf.transform.translation.y = robot_y
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tf.transform.rotation.x = q[0]
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tf.transform.rotation.y = q[1]
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tf.transform.rotation.z = q[2]
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tf.transform.rotation.w = q[3]
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tf_broadcaster.sendTransform(tf)
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display_dummy_robot(now)
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rate.sleep()

‎src/test/point_cloud_test.rviz‎

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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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Splitter Ratio: 0.5
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Tree Height: 818
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: PointCloud2
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: map
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Min Color: 0; 0; 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.05000000074505806
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Style: Flat Squares
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Topic: /points2
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: /robot/marker
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Name: Marker
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Namespaces:
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robot: true
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Queue Size: 100
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 30.52842903137207
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Field of View: 0.7853981852531433
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.6153981685638428
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Target Frame: <Fixed Frame>
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Yaw: 1.025397777557373
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1115
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd000000040000000000000156000003bdfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003bd000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003bdfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003bd000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000050f000003bd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1920
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X: 0
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Y: 0

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