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larm-astro
Commit 3fdca3c9 authored by Inès EL HADRI's avatar Inès EL HADRI 💤
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Update cloud point converter

parent 0479b0f5
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Showing with 3 additions and 3 deletions
tuto_kickoff/scripts/tuto_scan_echo
View file @ 3fdca3c9
...@@ -3,7 +3,7 @@ import rclpy ...@@ -3,7 +3,7 @@ import rclpy
import math import math
from rclpy.node import Node from rclpy.node import Node
from sensor_msgs.msg import LaserScan, PointCloud2 from sensor_msgs.msg import LaserScan, PointCloud2
import sensor_msgs_py.point_cloud2 from sensor_msgs_py import point_cloud2
from std_msgs.msg import Header from std_msgs.msg import Header
rosNode= None rosNode= None
...@@ -13,10 +13,10 @@ def scan_callback(scanMsg): ...@@ -13,10 +13,10 @@ def scan_callback(scanMsg):
obstacles = ranges_to_positions(scanMsg) obstacles = ranges_to_positions(scanMsg)
sample = [ [ round(p[0], 2), round(p[1], 2), round(p[2], 2) ] for p in obstacles[10:20] ] sample = [ [ round(p[0], 2), round(p[1], 2), round(p[2], 2) ] for p in obstacles[10:20] ]
rosNode.get_logger().info( f"\nheader:\n{scanMsg.header}\nnumber of ranges: {len(scanMsg.ranges)}\nSample: {sample}\n" ) # rosNode.get_logger().info( f"\nheader:\n{scanMsg.header}\nnumber of ranges: {len(scanMsg.ranges)}\nSample: {sample}\n" )
# Publish a msg # Publish a msg
pointCloud = sensor_msgs_py.point_cloud2.create_cloud_xyz32(Header(frame_id=scanMsg.header.frame_id), obstacles) pointCloud = point_cloud2.create_cloud_xyz32(Header(frame_id=scanMsg.header.frame_id), obstacles)
point_publisher.publish(pointCloud) point_publisher.publish(pointCloud)
......
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