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I placed my Marker within my while loop and this fixed my problem.

#!/usr/bin/env python

import rospy
from std_msgs.msg import String
from geometry_msgs.msg import PointStamped
from visualization_msgs.msg import Marker

_ACTIONS = [('N', [0,-1]),('E', [-1,0]),('S',[0,1]),('W',[1,0]),('NE',[-1,-1]),('NW',[1,-1]),('SE',[-1,1]),('SW',[1,1]), ('STAY',[0,0])]
_X = 0
_Y = 1

class stateNode():

def __init__(self):
    pub = rospy.Publisher('state', PointStamped, queue_size=10)
    markerPub = rospy.Publisher('robotMarker', Marker, queue_size=1)
    rospy.Subscriber("action", String, self.move_callback)

    rospy.init_node('stateNode', anonymous=True)

    rate = rospy.Rate(1)
    self.state = PointStamped()

    # initial starting location I might want to move to the param list
    self.h = rospy.get_param("height", 100)
    self.w = rospy.get_param("width", 100)
    self.state.point.x = self.h
    self.state.point.y = self.w
    self.state.point.z = 0



    while not rospy.is_shutdown():
        pub.publish(self.state)
        # markerPub.publish(self.robotMarker)

        self.robotMarker = Marker()
        self.robotMarker.header.frame_id = "Cmap"
        self.robotMarker.header.stamp    = rospy.Time.now()
        self.robotMarker.ns = "robot"
        self.robotMarker.id = 0
        self.robotMarker.type = Marker.SPHERE
        self.robotMarker.action = Marker.ADD
        self.robotMarker.pose.position = self.state.point
        self.robotMarker.pose.position.z = 1 # shift sphere up

        self.robotMarker.pose.orientation.x = 0
        self.robotMarker.pose.orientation.y = 0
        self.robotMarker.pose.orientation.z = 0
        self.robotMarker.pose.orientation.w = 1.0
        self.robotMarker.scale.x = 1.0
        self.robotMarker.scale.y = 1.0
        self.robotMarker.scale.z = 1.0

        self.robotMarker.color.r = 1.0
        self.robotMarker.color.g = 0.0
        self.robotMarker.color.b = 0.0
        self.robotMarker.color.a = 1.0

        markerPub.publish(self.robotMarker)
        print "sending marker", self.robotMarker.pose.position
        rate.sleep()

def move_callback(self, action):
    for i in _ACTIONS:
        if String(i[0]) == action:

            self.state.point.x = self.state.point.x + i[1][_X]
            self.state.point.y = self.state.point.y + i[1][_Y]

            if self.state.point.x>self.h:
                self.state.point.x = self.h
            if self.state.point.y>self.w:
                self.state.point.y = self.w

            self.state.point.z = 0
            # self.robotMarker.pose.position = self.state.point
            # self.ellipse = self.state.point

            # print i
            print self.state.point.x, self.state.point.y

stateNode()