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How to calculate the length of a path

asked 2019-08-09 13:04:35 -0600

Dimi gravatar image

updated 2019-08-09 19:12:56 -0600

jayess gravatar image

Hello to everyone here, I want to get the length of navigation path. The generated path consists of a sequence of coordinates points (x,y) which i can obtain by subscribing to a topic named as "/move_base/GlobalPlanner/plan". I know that if I calculate the distance of every two points and add them up, I will be able to extract the total path's length.

My subscriber looks like:

sub = rospy.Subscriber("/move_base/GlobalPlanner/plan", Path, callback)

What should the structure of my callback be in order to obtain all the poses of path ? Does anyone have python experience of doing that ?

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answered 2019-08-12 03:41:45 -0600

You need to loop through each adjacent pair of Poses in the path message. You can find the structure of this message described here.

for i in range(len(path_msg.poses) - 1):

  # get two geometry_msgs/Point messages of adjacent points
  position_a = path_msg.poses[i].pose.position
  position_b = path_msg.poses[i+1].pose.position

  # calcualte sum of distances here. . .

Hope this helps.

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Thanks for your answer Sir. I've managed to solve it by following your template :

def callback(path_msg):
global path_length
path_length = 0
for i in range(len(path_msg.poses) - 1):
    position_a_x = path_msg.poses[i].pose.position.x
    position_b_x = path_msg.poses[i+1].pose.position.x
    position_a_y = path_msg.poses[i].pose.position.y
    position_b_y = path_msg.poses[i+1].pose.position.y

    path_length += np.sqrt(np.power((position_b_x - position_a_x), 2) + np.power((position_b_y- position_a_y), 2))
Dimi gravatar image Dimi  ( 2019-08-12 07:59:28 -0600 )edit

Glad you got this working!

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2019-08-12 09:51:34 -0600 )edit

answered 2019-08-11 02:22:34 -0600

femust gravatar image

You need to go through all geometry_msgs/PoseStamped msgs in Path and add segments between consecutive points - so (x2-x1)^2 + (y2-y1)^2

you can go through PoseStamped msgs by something like this: for pose in name_of_the_variable_with_path.poses

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Thank you, I got it !

Dimi gravatar image Dimi  ( 2019-08-12 07:56:30 -0600 )edit

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Asked: 2019-08-09 13:03:46 -0600

Seen: 524 times

Last updated: Aug 12 '19