how to set my path time, and how can i show it in map? [closed]

asked 2016-04-08 08:04:52 -0600

DinnerHowe gravatar image

updated 2016-04-08 08:05:27 -0600

Hi, all:

I'm trying to write a path_recorder to recorder the path where turtlebot have arrived and show it in map.

Unfortunately, i got a trouble in how to set time for a path, i checked the message come from topic '/move_base/DWAPlannerROS/global_plan' and set all poses time to when the message is publishing.

However, when i launched AMCL and published my Path message to '/move_base/DWAPlannerROS/global_plan' to test my message, there was nothing happened... it supported to at least have a line in map, right?..... i don't know if i did the right thing..

and the other problem is i don't know how to show the path in map. (ps: i did add a path element when i use rviz and subscribe to my topic 'path_recorder', but it did not work. )

here is my code:

def define(self):
  self.path=Path()
  self.pose=PoseStamped()
  self.pose_list=[] 
  self.path.poses=[]
  #self.path.header.stamp=rospy.Time.now()
  self.pub = rospy.Publisher('path_recorder', Path, queue_size=10)

 def timer_callback(self,event):
  if self.current_pose.pose.pose not in self.pose_list:
   self.pose_list.append(self.current_pose.pose.pose)
   self.pose.pose=self.current_pose.pose.pose
   self.pose.header.frame_id='map'
   #self.pose.header.stamp=rospy.Time.now()
   self.pose.header.seq=0
   self.path.poses.append(self.pose)

  else:
   pass
  self.path.header.frame_id='map'
  self.path.header.stamp=rospy.Time.now()
  for element in self.path.poses:
   element.header.stamp=self.path.header.stamp
  print len(self.path.poses)
  self.pub.publish(self.path)


 def odom_callback(self,odom):
  self.current_pose=Odometry()
  self.current_pose.pose.pose.position.x=round(odom.pose.pose.position.x,5)
  self.current_pose.pose.pose.position.y=round(odom.pose.pose.position.y,5)
  self.current_pose.pose.pose.position.z=round(odom.pose.pose.position.z,5)
  self.current_pose.pose.pose.orientation.x=round(odom.pose.pose.orientation.x,5)
  self.current_pose.pose.pose.orientation.y=round(odom.pose.pose.orientation.y,5)
  self.current_pose.pose.pose.orientation.z=round(odom.pose.pose.orientation.z,5)
  self.current_pose.pose.pose.orientation.w=round(odom.pose.pose.orientation.w,5)

 def start(self):
  self.define()
  rospy.Subscriber("odom",Odometry, self.odom_callback)
  rospy.Timer(rospy.Duration(0.5), self.timer_callback,oneshot=False)
  rospy.spin()
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Closed for the following reason duplicate question by DinnerHowe
close date 2016-09-06 05:09:32.833336

Comments

ur...i figured out a method to show path... but, i'm not sure if it's a good way to do it

my method is setting all points of a path to now(), and then publish those points throw marker

DinnerHowe gravatar image DinnerHowe  ( 2016-05-17 22:49:06 -0600 )edit