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listener.py
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listener.py
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# Copyright (c) 2008, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import rospy
import numpy
import yaml
import geometry_msgs.msg
import sensor_msgs.msg
import tf2_ros
from . import transformations
def xyz_to_mat44(pos):
return transformations.translation_matrix((pos.x, pos.y, pos.z))
def xyzw_to_mat44(ori):
return transformations.quaternion_matrix((ori.x, ori.y, ori.z, ori.w))
def strip_leading_slash(s):
return s[1:] if s.startswith("/") else s
## Proxy Transformer class to call TF2 methods
class Transformer(object):
def __init__(self, interpolate=True, cache_time=None):
self._buffer = tf2_ros.Buffer(cache_time, debug=False)
self._using_dedicated_thread = False
def allFramesAsDot(self, current_time=None):
if current_time:
return self._buffer._allFramesAsDot(current_time)
return self._buffer._allFramesAsDot()
def allFramesAsString(self):
return self._buffer.all_frames_as_string()
def setTransform(self, transform, authority="default_authority"):
self._buffer.set_transform(transform, authority)
def canTransform(self, target_frame, source_frame, time):
return self._buffer.can_transform(strip_leading_slash(target_frame), strip_leading_slash(source_frame), time)
def canTransformFull(self, target_frame, target_time, source_frame, source_time, fixed_frame):
return self._buffer.can_transform_full(strip_leading_slash(target_frame), target_time, strip_leading_slash(source_frame), source_time, strip_leading_slash(fixed_frame))
def waitForTransform(self, target_frame, source_frame, time, timeout, polling_sleep_duration=None):
if not self._using_dedicated_thread:
raise tf2_ros.TransformException("cannot wait for transform without a dedicated thread that listens to incoming TF messages")
can_transform, error_msg = self._buffer.can_transform(strip_leading_slash(target_frame), strip_leading_slash(source_frame), time, timeout, return_debug_tuple=True)
if not can_transform:
raise tf2_ros.TransformException(error_msg or "no such transformation: \"{}\" -> \"{}\"".format(source_frame, target_frame))
def waitForTransformFull(self, target_frame, target_time, source_frame, source_time, fixed_frame, timeout, polling_sleep_duration=None):
if not self._using_dedicated_thread:
raise tf2_ros.TransformException("cannot wait for transform without a dedicated thread that listens to incoming TF messages")
can_transform, error_msg = self._buffer.can_transform_full(strip_leading_slash(target_frame), target_time, strip_leading_slash(source_frame), source_time, strip_leading_slash(fixed_frame), timeout, return_debug_tuple=True)
if not can_transform:
raise tf2_ros.TransformException(error_msg or "no such transformation: \"{}\" -> \"{}\"".format(source_frame, target_frame))
def chain(self, target_frame, target_time, source_frame, source_time, fixed_frame):
return self._buffer._chain( target_frame, target_time, source_frame, source_time, fixed_frame)
def clear(self):
self._buffer.clear()
def frameExists(self, frame_id):
""" Not a recommended API, only here for backwards compatibility """
return frame_id in self.getFrameStrings()
def getFrameStrings(self):
""" Not a recommended API, only here for backwards compatibility """
data = yaml.load(self._buffer.all_frames_as_yaml()) or {}
return [p for p, _ in data.items()]
def getLatestCommonTime(self, source_frame, dest_frame):
return self._buffer.get_latest_common_time(strip_leading_slash(source_frame), strip_leading_slash(dest_frame))
def lookupTransform(self, target_frame, source_frame, time):
msg = self._buffer.lookup_transform(strip_leading_slash(target_frame), strip_leading_slash(source_frame), time)
t = msg.transform.translation
r = msg.transform.rotation
return [t.x, t.y, t.z], [r.x, r.y, r.z, r.w]
def lookupTransformFull(self, target_frame, target_time, source_frame, source_time, fixed_frame):
msg = self._buffer.lookup_transform_full(strip_leading_slash(target_frame), target_time, strip_leading_slash(source_frame), source_time, strip_leading_slash(fixed_frame))
t = msg.transform.translation
r = msg.transform.rotation
return [t.x, t.y, t.z], [r.x, r.y, r.z, r.w]
def lookupTwist(self, tracking_frame, observation_frame, time, averaging_interval):
return self.lookupTwistFull(tracking_frame, observation_frame, observation_frame, (0, 0, 0), tracking_frame, time, averaging_interval)
def lookupTwistFull(self, tracking_frame, observation_frame, reference_frame, ref_point, reference_point_frame, time, averaging_interval):
latest_time = self.getLatestCommonTime(observation_frame, tracking_frame)
target_time = time or latest_time
end_time = min(target_time + rospy.Duration(0.5 * averaging_interval.to_sec()), latest_time)
start_time = max(rospy.Time(0.0001) + averaging_interval, end_time) - averaging_interval
delta_t = (end_time - start_time).to_sec()
start_tr, start_rt = self.lookupTransform(observation_frame, tracking_frame, start_time)
end_tr, end_rt = self.lookupTransform(observation_frame, tracking_frame, end_time)
dR = numpy.dot(numpy.linalg.inv(transformations.quaternion_matrix(start_rt)), transformations.quaternion_matrix(end_rt))
ang, o, _ = transformations.rotation_from_matrix(dR)
delta_x, delta_y, delta_z = end_tr[0] - start_tr[0], end_tr[1] - start_tr[1], end_tr[2] - start_tr[2]
# Compute twist in observation_frame w.r.t. tracking_frame
vel0 = delta_x / delta_t, delta_y / delta_t, delta_z / delta_t
rot0 = o[0] * ang / delta_t, o[1] * ang / delta_t, o[2] * ang / delta_t
# Shift to reference_frame
inverse_tr, inverse_rt = self.lookupTransform(reference_frame, tracking_frame, target_time)
iR = transformations.quaternion_matrix(inverse_rt)[:3, :3]
rot = numpy.dot(iR, rot0)
vel = numpy.dot(iR, vel0) + numpy.cross(inverse_tr, rot)
# Correct for reference point
rp_orig = numpy.array((inverse_tr[0], inverse_tr[1], inverse_tr[2], 1))
rp_tr, rp_rt = self.lookupTransform(reference_frame, reference_point_frame, target_time)
T = numpy.dot(transformations.translation_matrix(rp_tr), transformations.quaternion_matrix(rp_rt))
rp_desired = numpy.dot(T, (rp_orig[0], rp_orig[1], rp_orig[2], 1))
delta = rp_desired - rp_orig
vel += numpy.dot(rot, delta[:3])
return (vel[0], vel[1], vel[2]), (rot[0], rot[1], rot[2])
def setUsingDedicatedThread(self, value):
self._using_dedicated_thread = value
def getTFPrefix(self):
# The tf2 resolver does not support TF prefixes, so we return the empty prefix here
return ""
## Extends tf's Transformer, adding transform methods for ROS message
## types PointStamped, QuaternionStamped and PoseStamped.
class TransformerROS(Transformer):
"""
TransformerROS extends the base class :class:`tf.Transformer`,
adding methods for handling ROS messages.
"""
## Looks up the transform for ROS message header hdr to frame
## target_frame, and returns the transform as a Numpy 4x4 matrix.
# @param target_frame The target frame
# @param hdr A ROS message header object
def asMatrix(self, target_frame, hdr):
"""
:param target_frame: the tf target frame, a string
:param hdr: a message header
:return: a :class:`numpy.matrix` 4x4 representation of the transform
:raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise
Uses :meth:`lookupTransform` to look up the transform for ROS message header hdr to frame
target_frame, and returns the transform as a :class:`numpy.matrix`
4x4.
"""
translation,rotation = self.lookupTransform(target_frame, hdr.frame_id, hdr.stamp)
return self.fromTranslationRotation(translation, rotation)
## Returns a Numpy 4x4 matrix for a transform.
# @param translation translation as (x,y,z)
# @param rotation rotation as (x,y,z,w)
def fromTranslationRotation(self, translation, rotation):
"""
:param translation: translation expressed as a tuple (x,y,z)
:param rotation: rotation quaternion expressed as a tuple (x,y,z,w)
:return: a :class:`numpy.matrix` 4x4 representation of the transform
:raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise
Converts a transformation from :class:`tf.Transformer` into a representation as a 4x4 matrix.
"""
return numpy.dot(transformations.translation_matrix(translation), transformations.quaternion_matrix(rotation))
## Transforms a geometry_msgs PointStamped message to frame target_frame, returns the resulting PointStamped.
# @param target_frame The target frame
# @param ps geometry_msgs.msg.PointStamped object
def transformPoint(self, target_frame, ps):
"""
:param target_frame: the tf target frame, a string
:param ps: the geometry_msgs.msg.PointStamped message
:return: new geometry_msgs.msg.PointStamped message, in frame target_frame
:raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise
Transforms a geometry_msgs PointStamped message to frame target_frame, returns a new PointStamped message.
"""
mat44 = self.asMatrix(target_frame, ps.header)
xyz = tuple(numpy.dot(mat44, numpy.array([ps.point.x, ps.point.y, ps.point.z, 1.0])))[:3]
r = geometry_msgs.msg.PointStamped()
r.header.stamp = ps.header.stamp
r.header.frame_id = target_frame
r.point = geometry_msgs.msg.Point(*xyz)
return r
## Transforms a geometry_msgs Vector3Stamped message to frame target_frame, returns the resulting Vector3Stamped.
# @param target_frame The target frame
# @param ps geometry_msgs.msg.Vector3Stamped object
def transformVector3(self, target_frame, v3s):
"""
:param target_frame: the tf target frame, a string
:param v3s: the geometry_msgs.msg.Vector3Stamped message
:return: new geometry_msgs.msg.Vector3Stamped message, in frame target_frame
:raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise
Transforms a geometry_msgs Vector3Stamped message to frame target_frame, returns a new Vector3Stamped message.
"""
mat44 = self.asMatrix(target_frame, v3s.header)
mat44[0,3] = 0.0
mat44[1,3] = 0.0
mat44[2,3] = 0.0
xyz = tuple(numpy.dot(mat44, numpy.array([v3s.vector.x, v3s.vector.y, v3s.vector.z, 1.0])))[:3]
r = geometry_msgs.msg.Vector3Stamped()
r.header.stamp = v3s.header.stamp
r.header.frame_id = target_frame
r.vector = geometry_msgs.msg.Vector3(*xyz)
return r
## Transforms a geometry_msgs QuaternionStamped message to frame target_frame, returns the resulting QuaternionStamped.
# @param target_frame The target frame
# @param ps geometry_msgs.msg.QuaternionStamped object
def transformQuaternion(self, target_frame, ps):
"""
:param target_frame: the tf target frame, a string
:param ps: the geometry_msgs.msg.QuaternionStamped message
:return: new geometry_msgs.msg.QuaternionStamped message, in frame target_frame
:raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise
Transforms a geometry_msgs QuaternionStamped message to frame target_frame, returns a new QuaternionStamped message.
"""
# mat44 is frame-to-frame transform as a 4x4
mat44 = self.asMatrix(target_frame, ps.header)
# pose44 is the given quat as a 4x4
pose44 = xyzw_to_mat44(ps.quaternion)
# txpose is the new pose in target_frame as a 4x4
txpose = numpy.dot(mat44, pose44)
# quat is orientation of txpose
quat = tuple(transformations.quaternion_from_matrix(txpose))
# assemble return value QuaternionStamped
r = geometry_msgs.msg.QuaternionStamped()
r.header.stamp = ps.header.stamp
r.header.frame_id = target_frame
r.quaternion = geometry_msgs.msg.Quaternion(*quat)
return r
## Transforms a geometry_msgs PoseStamped message to frame target_frame, returns the resulting PoseStamped.
# @param target_frame The target frame
# @param ps geometry_msgs.msg.PoseStamped object
def transformPose(self, target_frame, ps):
"""
:param target_frame: the tf target frame, a string
:param ps: the geometry_msgs.msg.PoseStamped message
:return: new geometry_msgs.msg.PoseStamped message, in frame target_frame
:raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise
Transforms a geometry_msgs PoseStamped message to frame target_frame, returns a new PoseStamped message.
"""
# mat44 is frame-to-frame transform as a 4x4
mat44 = self.asMatrix(target_frame, ps.header)
# pose44 is the given pose as a 4x4
pose44 = numpy.dot(xyz_to_mat44(ps.pose.position), xyzw_to_mat44(ps.pose.orientation))
# txpose is the new pose in target_frame as a 4x4
txpose = numpy.dot(mat44, pose44)
# xyz and quat are txpose's position and orientation
xyz = tuple(transformations.translation_from_matrix(txpose))[:3]
quat = tuple(transformations.quaternion_from_matrix(txpose))
# assemble return value PoseStamped
r = geometry_msgs.msg.PoseStamped()
r.header.stamp = ps.header.stamp
r.header.frame_id = target_frame
r.pose = geometry_msgs.msg.Pose(geometry_msgs.msg.Point(*xyz), geometry_msgs.msg.Quaternion(*quat))
return r
def transformPointCloud(self, target_frame, point_cloud):
"""
:param target_frame: the tf target frame, a string
:param ps: the sensor_msgs.msg.PointCloud message
:return: new sensor_msgs.msg.PointCloud message, in frame target_frame
:raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise
Transforms a geometry_msgs PoseStamped message to frame target_frame, returns a new PoseStamped message.
"""
r = sensor_msgs.msg.PointCloud()
r.header.stamp = point_cloud.header.stamp
r.header.frame_id = target_frame
r.channels = point_cloud.channels
mat44 = self.asMatrix(target_frame, point_cloud.header)
def xf(p):
xyz = tuple(numpy.dot(mat44, numpy.array([p.x, p.y, p.z, 1.0])))[:3]
return geometry_msgs.msg.Point(*xyz)
r.points = [xf(p) for p in point_cloud.points]
return r
class TransformListener(TransformerROS):
"""
TransformListener is a subclass of :class:`tf.TransformerROS` that
subscribes to the ``"/tf"`` message topic, and calls :meth:`tf.Transformer.setTransform`
with each incoming transformation message.
In this way a TransformListener object automatically
stays up to to date with all current transforms. Typical usage might be::
import tf
from geometry_msgs.msg import PointStamped
class MyNode:
def __init__(self):
self.tl = tf.TransformListener()
rospy.Subscriber("/sometopic", PointStamped, self.some_message_handler)
...
def some_message_handler(self, point_stamped):
# want to work on the point in the "world" frame
point_in_world = self.tl.transformPoint("world", point_stamped)
...
"""
def __init__(self, *args, **kwargs):
TransformerROS.__init__(self, *args, **kwargs)
self._listener = tf2_ros.TransformListener(self._buffer)
self.setUsingDedicatedThread(True)