/usr/lib/python2.7/dist-packages/tf/listener.py is in python-tf 1.11.8-4.
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import rospy
import tf as TFX
from tf import transformations
import numpy
from tf.msg import tfMessage
import rosgraph.masterapi
import geometry_msgs.msg
import sensor_msgs.msg
from tf.srv import FrameGraph,FrameGraphResponse
import threading
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))
## Extends tf's Transformer, adding transform methods for ROS message
## types PointStamped, QuaternionStamped and PoseStamped.
class TransformerROS(TFX.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
## Extends TransformerROS, subscribes to the /tf topic and
## updates the Transformer with the messages.
class TransformListenerThread(threading.Thread):
def __init__(self, tl):
threading.Thread.__init__(self)
self.tl = tl
def run(self):
self.last_update_ros_time = rospy.Time.now()
rospy.Subscriber("/tf", tfMessage, self.transformlistener_callback)
#Check to see if the service has already been advertised in this node
try:
m = rosgraph.masterapi.Master(rospy.get_name())
m.lookupService('~tf_frames')
except (rosgraph.masterapi.Error, rosgraph.masterapi.Failure):
self.tl.frame_graph_server = rospy.Service('~tf_frames', FrameGraph, self.frame_graph_service)
rospy.spin()
def transformlistener_callback(self, data):
ros_dt = (rospy.Time.now() - self.last_update_ros_time).to_sec()
if ros_dt < -0.5:
rospy.logwarn("Saw a negative time change of %f seconds, clearing the tf buffer." % ros_dt)
self.tl.clear()
self.last_update_ros_time = rospy.Time.now()
who = data._connection_header.get('callerid', "default_authority")
for transform in data.transforms:
self.tl.setTransform(transform, who)
def frame_graph_service(self, req):
return FrameGraphResponse(self.tl.allFramesAsDot())
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):
TransformerROS.__init__(self, *args)
thr = TransformListenerThread(self)
thr.setDaemon(True)
thr.start()
self.setUsingDedicatedThread(True)
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