public void onNewMessage(LaserScan message) { LidarScanParameters polarLidarScanParameters = new LidarScanParameters(message.getRanges().length, 1, message.getAngleMin(), message.getAngleMax(), message.getTimeIncrement(), message.getRangeMin(), message.getRangeMax(), message.getScanTime(), message.getHeader().getStamp().totalNsecs()); if (DEBUG) { verifyDataFromGazeboRemainsTheSame(polarLidarScanParameters); } LidarScan polarLidarScan = new LidarScan(polarLidarScanParameters, message.getRanges(),sensorId); newScan(polarLidarScan); }
Header header = message.getHeader(); header.setStamp(timestamp); header.setFrameId(frameId); header.setSeq(seq++); message.setHeader(header); message.setAngleMin(parameters.getSweepYawMin()); message.setAngleMax(parameters.getSweepYawMax()); message.setAngleIncrement(parameters.getAngleIncrement()); message.setTimeIncrement(parameters.getTimeIncrement()); message.setScanTime(parameters.getScanTime()); message.setRangeMin(parameters.getMinRange()); message.setRangeMax(parameters.getMaxRange()); fakeIntensities[i] = 1/((ranges[i]*ranges[i])+1e-10f); message.setIntensities(fakeIntensities); message.setRanges(lidarScan.getRanges());
@Override public void onNewMessage(sensor_msgs.LaserScan message) { float[] ranges = message.getRanges(); float northRange = ranges[ranges.length / 2]; float northEastRange = ranges[ranges.length / 3]; double linearVelocity = 0.5; double angularVelocity = -0.5; if (northRange < 1. || northEastRange < 1.) { linearVelocity = 0; angularVelocity = 0.5; } twist.getAngular().setZ(angularVelocity); twist.getLinear().setX(linearVelocity); publisher.publish(twist); } });
Header header = message.getHeader(); header.setStamp(timestamp); header.setFrameId(frameId); header.setSeq(seq++); message.setHeader(header); message.setAngleMin(parameters.getSweepYawMin()); message.setAngleMax(parameters.getSweepYawMax()); message.setAngleIncrement(parameters.getAngleIncrement()); message.setTimeIncrement(parameters.getTimeIncrement()); message.setScanTime(parameters.getScanTime()); message.setRangeMin(parameters.getMinRange()); message.setRangeMax(parameters.getMaxRange()); fakeIntensities[i] = 1 / ((ranges.get(i) * ranges.get(i)) + 1e-10f); message.setIntensities(fakeIntensities); message.setRanges(lidarScan.getRanges().toArray());
public void onNewMessage(LaserScan message) { LidarScanParameters polarLidarScanParameters = new LidarScanParameters(message.getRanges().length, 1, message.getAngleMin(), message.getAngleMax(), message.getTimeIncrement(), message.getRangeMin(), message.getRangeMax(), message.getScanTime(), message.getHeader().getStamp().totalNsecs()); if (DEBUG) { verifyDataFromGazeboRemainsTheSame(polarLidarScanParameters); } LidarScan polarLidarScan = new LidarScan(polarLidarScanParameters, message.getRanges(),sensorId); newScan(polarLidarScan); }