重塑程序
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@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.0.2)
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project(position_demo)
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project(Topic_Newsletter)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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@@ -9,9 +9,10 @@ project(position_demo)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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geometry_msgs
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nav_msgs
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message_generation
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rospy
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std_msgs
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visualization_msgs
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)
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## System dependencies are found with CMake's conventions
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@@ -71,7 +72,7 @@ find_package(catkin REQUIRED COMPONENTS
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# geometry_msgs# nav_msgs# std_msgs
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# geometry_msgs# std_msgs# visualization_msgs
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# )
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################################################
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@@ -105,8 +106,8 @@ find_package(catkin REQUIRED COMPONENTS
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES position_demo
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# CATKIN_DEPENDS geometry_msgs nav_msgs rospy std_msgs
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# LIBRARIES Topic_Newsletter
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# CATKIN_DEPENDS geometry_msgs message_generation rospy std_msgs visualization_msgs
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# DEPENDS system_lib
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)
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@@ -123,7 +124,7 @@ include_directories(
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/position_demo.cpp
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# src/${PROJECT_NAME}/Topic_Newsletter.cpp
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# )
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## Add cmake target dependencies of the library
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@@ -134,7 +135,7 @@ include_directories(
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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# add_executable(${PROJECT_NAME}_node src/position_demo_node.cpp)
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# add_executable(${PROJECT_NAME}_node src/Topic_Newsletter_node.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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@@ -198,7 +199,7 @@ include_directories(
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_position_demo.cpp)
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_Topic_Newsletter.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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@@ -1,8 +1,8 @@
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<?xml version="1.0"?>
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<package format="2">
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<name>position_demo</name>
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<name>Topic_Newsletter</name>
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<version>0.0.0</version>
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<description>The position_demo package</description>
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<description>The Topic_Newsletter package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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@@ -19,7 +19,7 @@
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<!-- Url tags are optional, but multiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/position_demo</url> -->
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<!-- <url type="website">http://wiki.ros.org/Topic_Newsletter</url> -->
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<!-- Author tags are optional, multiple are allowed, one per tag -->
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@@ -50,17 +50,18 @@
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<!-- <doc_depend>doxygen</doc_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>geometry_msgs</build_depend>
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<build_depend>nav_msgs</build_depend>
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<build_depend>message_generation</build_depend>
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<build_depend>rospy</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>visualization_msgs</build_depend>
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<build_export_depend>geometry_msgs</build_export_depend>
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<build_export_depend>nav_msgs</build_export_depend>
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<build_export_depend>rospy</build_export_depend>
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<build_export_depend>std_msgs</build_export_depend>
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<build_export_depend>visualization_msgs</build_export_depend>
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<exec_depend>geometry_msgs</exec_depend>
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<exec_depend>nav_msgs</exec_depend>
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<exec_depend>rospy</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<exec_depend>visualization_msgs</exec_depend>
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<!-- The export tag contains other, unspecified, tags -->
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@@ -0,0 +1,27 @@
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#!/usr/bin/env python3
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import rospy
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import math
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from geometry_msgs.msg import PointStamped
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def main():
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rospy.init_node('Publisher_S')
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pub = rospy.Publisher('position', PointStamped, queue_size=10) # 向 position 话题发布 PointStamped 类型的消息
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rate = rospy.Rate(10) # 每 0.1s 一条信息
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k = 0
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while not rospy.is_shutdown():
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msg = PointStamped()
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msg.header.stamp = rospy.Time.now()
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msg.header.frame_id = "map" # 基于 map 的坐标系
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msg.point.x = math.sin(0.05 * math.pi * k) # x 值
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msg.point.y = math.cos(0.05 * math.pi * k) # y 值
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msg.point.z = 0.0
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pub.publish(msg) # 发布话题
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rospy.loginfo("Published: x=%.3f, y=%.3f" % (msg.point.x, msg.point.y)) # 打印坐标信息
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k += 1
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rate.sleep()
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if __name__ == '__main__':
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main()
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@@ -0,0 +1,91 @@
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#!/usr/bin/env python3
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import rospy
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import random
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from geometry_msgs.msg import PointStamped, Point
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from visualization_msgs.msg import Marker, MarkerArray
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from std_msgs.msg import ColorRGBA
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MAX_POINTS = 100
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original_trajectory = []
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noisy_trajectory = []
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noisy_pub = None
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marker_pub = None
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def position_callback(msg):
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global original_trajectory, noisy_trajectory
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global noisy_pub, marker_pub
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noise_x = random.uniform(-0.1, 0.1)
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noise_y = random.uniform(-0.1, 0.1)
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noisy_msg = PointStamped()
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noisy_msg.header = msg.header
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noisy_msg.point.x = msg.point.x + noise_x # 对 x 添加噪声
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noisy_msg.point.y = msg.point.y + noise_y # 对 y 添加噪声
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noisy_msg.point.z = 0.0
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original_trajectory.append(msg.point)
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if len(original_trajectory) > MAX_POINTS:
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original_trajectory.pop(0)
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noisy_trajectory.append(noisy_msg.point)
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if len(noisy_trajectory) > MAX_POINTS:
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noisy_trajectory.pop(0)
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marker_array = MarkerArray()
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original_line = Marker()
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original_line.header = msg.header
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original_line.ns = "trajectory"
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original_line.id = 0
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original_line.type = Marker.LINE_STRIP
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original_line.action = Marker.ADD
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original_line.scale.x = 0.02
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original_line.color.g = 1.0
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original_line.color.a = 1.0
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original_line.points = list(original_trajectory)
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marker_array.markers.append(original_line)
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noisy_line = Marker()
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noisy_line.header = msg.header
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noisy_line.ns = "trajectory"
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noisy_line.id = 1
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noisy_line.type = Marker.LINE_STRIP
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noisy_line.action = Marker.ADD
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noisy_line.scale.x = 0.02
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noisy_line.color.r = 1.0
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noisy_line.color.a = 1.0
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noisy_line.points = list(noisy_trajectory)
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marker_array.markers.append(noisy_line)
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marker = Marker()
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marker.header.frame_id = "map" # 设置坐标系
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marker.header.stamp = rospy.Time.now()
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marker.type = Marker.POINTS
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marker.action = Marker.ADD
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marker.scale.x = 0.025 # 点的直径
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marker.scale.y = 0.025 # 点的直径
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marker.color = ColorRGBA(1.0, 0.0, 0.0, 1.0) # 红色
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points = []
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for point in noisy_trajectory:
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p = Point()
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p.x = point.x
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p.y = point.y
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p.z = 0.0
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points.append(p)
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marker.points = points
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marker_array.markers.append(marker)
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marker_pub.publish(marker_array)
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rospy.loginfo("Published noisy point: x=%.3f, y=%.3f | Noisy: x=%.3f, y=%.3f",msg.point.x, msg.point.y, noisy_msg.point.x, noisy_msg.point.y)
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if __name__ == '__main__':
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rospy.init_node('Subscriber_Client_S')
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rospy.Subscriber('position', PointStamped, position_callback)
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noisy_pub = rospy.Publisher('noisy_position', PointStamped, queue_size=10)
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marker_pub = rospy.Publisher('visualization_marker_array', MarkerArray, queue_size=10)
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rospy.loginfo("Node initialized, waiting for position data...")
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rospy.spin()
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@@ -1,23 +0,0 @@
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#!/usr/bin/env python
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import rospy
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import numpy as np
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from position_demo.srv import FftService, FftServiceResponse
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# 服务回调函数，进行FFT变换
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def handle_fft_request(req):
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# 获取请求中的数据
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data = req.data
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# 对数据进行FFT变换
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fft_result = np.fft.fft(data)
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# 返回实部和虚部的实数部分作为结果
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return FftServiceResponse(fft_result.real)
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def fft_service():
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rospy.init_node('fft_service')
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# 定义服务
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service = rospy.Service('fft_service', FftService, handle_fft_request)
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rospy.loginfo("Ready to perform FFT on 128 data points.")
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rospy.spin()
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if __name__ == "__main__":
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fft_service()
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@@ -1,31 +0,0 @@
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#!/usr/bin/env python3
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import rospy
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from geometry_msgs.msg import Point
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import math
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def publisher():
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# 创建一个发布者，将坐标点发布到 /position_topic 主题
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point_pub = rospy.Publisher('position_topic', Point, queue_size=10)
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rospy.init_node('position_publisher', anonymous=True)
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rate = rospy.Rate(10) # 10Hz (100ms)
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k = 0
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while not rospy.is_shutdown():
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# 根据方程计算 x 和 y 坐标
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x = math.sin(0.05 * k * math.pi)
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y = math.cos(0.05 * k * math.pi)
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# 创建一个 Point 消息并发布
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point = Point(x=x, y=y, z=0)
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point_pub.publish(point)
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rospy.loginfo(f"Published Point: x={x:.4f}, y={y:.4f}")
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k += 1
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rate.sleep()
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if __name__ == '__main__':
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try:
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publisher()
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except rospy.ROSInterruptException:
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pass
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@@ -1,31 +0,0 @@
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#!/usr/bin/env python3
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import rospy
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from geometry_msgs.msg import Point
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import math
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def publisher():
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# 创建一个发布者，将坐标点发布到 /position_topic 主题
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point_pub = rospy.Publisher('position_topic', Point, queue_size=10)
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rospy.init_node('position_publisher', anonymous=True)
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rate = rospy.Rate(10) # 10Hz (100ms)
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k = 0
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while not rospy.is_shutdown():
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# 根据方程计算 x 和 y 坐标
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x = math.sin(0.015625 * k * math.pi)
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y = math.cos(0.015625 * k * math.pi)
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# 创建一个 Point 消息并发布
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point = Point(x=x, y=y, z=0)
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point_pub.publish(point)
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rospy.loginfo(f"Published Point: x={x:.4f}, y={y:.4f}")
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k += 1
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rate.sleep()
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if __name__ == '__main__':
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try:
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publisher()
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except rospy.ROSInterruptException:
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pass
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@@ -1,57 +0,0 @@
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#!/usr/bin/env python3
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import rospy
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from geometry_msgs.msg import Point
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from visualization_msgs.msg import Marker
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from std_msgs.msg import ColorRGBA
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# 保存接收到的所有点，更新轨迹
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points = []
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def callback(data):
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global points
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# 打印接收到的坐标点
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rospy.loginfo(f"Received Point: x={data.x:.4f}, y={data.y:.4f}")
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# 创建 Marker 消息
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marker = Marker()
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marker.header.frame_id = "world"
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marker.header.stamp = rospy.Time.now()
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# 设置 Marker 类型为点（而不是线条）
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marker.type = Marker.POINTS
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marker.action = Marker.ADD
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# 设置点的大小，直径为 0.001
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marker.scale.x = 0.025 # 点的直径（x 和 y 均为直径）
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marker.scale.y = 0.025 # 点的直径
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# 设置点的颜色
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marker.color = ColorRGBA(1.0, 0.0, 0.0, 1.0) # 红色，透明度 1.0
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# 添加接收到的坐标点
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point = Point()
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point.x = data.x
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point.y = data.y
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point.z = data.z
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points.append(point)
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# 将所有的点添加到 Marker 的点集合中
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marker.points = points
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# 发布 Marker
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marker_pub.publish(marker)
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def listener():
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rospy.init_node('position_subscriber', anonymous=True)
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# 创建 Marker 发布者
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global marker_pub
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marker_pub = rospy.Publisher('visualization_marker', Marker, queue_size=10)
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rospy.Subscriber('position_topic', Point, callback)
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rospy.spin()
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if __name__ == '__main__':
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listener()
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@@ -1,70 +0,0 @@
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#!/usr/bin/env python3
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import rospy
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from geometry_msgs.msg import Point
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from visualization_msgs.msg import Marker
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from std_msgs.msg import ColorRGBA
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# 保存接收到的所有点，更新轨迹
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points = []
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x1 = 0
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y1 = 0
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def callback(data, n=[0]):
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global points
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global x1
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global y1
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if n[0] == 0:
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x1 = data.x + 0.1
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y1 = data.y + 0.1
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n[0] = 1
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else:
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x1 = data.x - 0.1
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y1 = data.y - 0.1
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n[0] = 0
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rospy.loginfo(f"Modified Point: x={x1:.4f}, y={y1:.4f}")
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# 创建 Marker 消息
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marker = Marker()
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marker.header.frame_id = "world"
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marker.header.stamp = rospy.Time.now()
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# 设置 Marker 类型为点（而不是线条）
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marker.type = Marker.POINTS
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marker.action = Marker.ADD
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# 设置点的大小，直径为 0.001
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marker.scale.x = 0.025 # 点的直径（x 和 y 均为直径）
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marker.scale.y = 0.025 # 点的直径
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# 设置点的颜色
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marker.color = ColorRGBA(1.0, 0.0, 0.0, 1.0) # 红色，透明度 1.0
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# 添加接收到的坐标点
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point = Point()
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point.x = x1
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point.y = y1
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point.z = 0
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points.append(point)
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# 将所有的点添加到 Marker 的点集合中
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marker.points = points
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# 发布 Marker
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marker_pub.publish(marker)
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def listener():
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rospy.init_node('position_subscriber', anonymous=True)
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# 创建 Marker 发布者
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global marker_pub
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marker_pub = rospy.Publisher('visualization_marker', Marker, queue_size=10)
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rospy.Subscriber('position_topic', Point, callback)
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rospy.spin()
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if __name__ == '__main__':
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listener()
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@@ -1,3 +0,0 @@
|
||||
float64[128] data
|
||||
---
|
||||
float64[128] fft_result
|
||||
Reference in new issue
Block a user