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[英]How to use itertools to pass the returned values from one function to another?
[英]ROS how to use values from one callback function to another
对不起,英语不是我的母语。 我希望你能正确理解我的问题。
我正在使用 Ubuntu 18.04 和 ROS Melodic。 我正在尝试从mapCallback
和odometryCallback
函数中获取数据,并在SampleTree
function 中使用这些值。 当我运行下面的代码时,我想返回 frontCones 数组,但我的 output 是空数组。 如何使SampleTree
function 获取值,在mapCallback
和odometryCallback
函数中发布,并在循环中使用此数据返回 frontCones 数组?
这是我的代码:
# !/usr/bin/python
import rospy
from nav_msgs.msg import Odometry
from egn_messages.msg import Map
from tf.transformations import euler_from_quaternion
odometry = Odometry()
map = Map()
class Test:
def __init__(self):
rospy.init_node('test_node')
rospy.Subscriber('/map1', Map, self.mapCallback)
rospy.Subscriber('/odometry', Odometry, self.odometryCallback)
self.map = []
self.carPosX = 0.0
self.carPosY = 0.0
self.carPosYaw = 0.0
def odometryCallback(self, odometry):
orientation_q = odometry.pose.pose.orientation
orientation_list = [orientation_q.x, orientation_q.y,
orientation_q.z, orientation_q.w]
(roll, pitch, yaw) = euler_from_quaternion(orientation_list)
self.carPosX = odometry.pose.pose.position.x
self.carPosY = odometry.pose.pose.position.y
self.carPosYaw = yaw
def mapCallback(self, map):
self.map = map
def SampleTree(self):
if not self.map:
print
'map is empty, return'
return
frontConesDist = 12
frontCones = self.getFrontConeObstacles(frontConesDist)
print(frontCones)
def getFrontConeObstacles(self, frontDist):
if not map:
return []
headingVector = [1.0, 0]
behindDist = 0.5
carPosBehindPoint = [self.carPosX - behindDist * headingVector[0], self.carPosY - behindDist * headingVector[1]]
frontDistSq = frontDist ** 2
frontConeList = []
for cone in map.cones:
if (headingVectorOrt[0] * (cone.y - carPosBehindPoint[1]) - headingVectorOrt[1] * (
cone.x - carPosBehindPoint[0])) < 0:
if ((cone.x - self.carPosX) ** 2 + (cone.y - self.carPosY) ** 2) < frontDistSq:
frontConeList.append(cone)
return frontConeList
if __name__ == "__main__":
inst = Test()
inst.SampleTree()
try:
rospy.spin()
except KeyboardInterrupt:
print("Shutting down")
确保 self.map 中的值实际上正在更新 通过在回调 function 中打印新的 map 信息来检查。
还添加:
if __name__ == "__main__"():
inst = Test()
inst.SampleTree()
try:
rospy.spin()
except KeyboardInterrupt:
print("Shutting down")
rospy.spin() 将在无限循环中执行代码,除非被中断。
建议:
您可以命名 function
def getFrontConeObstacles(self, frontDist):
代替
def getFrontConeObstacles(self, map, frontDist):
正如您可以轻松访问 class 中的 self.map 一样。
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