From 16d36322dc3c3306d08a20401ed3a455198d846e Mon Sep 17 00:00:00 2001
From: Daniel Christoph <daniel.christoph@informatik.hu-berlin.de>
Date: Sat, 4 Jan 2020 23:20:02 +0100
Subject: [PATCH] Update
Simulation/location_monitor/scripts/location_monitor_node.py
---
.../scripts/location_monitor_node.py | 69 +++++++++++++++++++
1 file changed, 69 insertions(+)
create mode 100644 Simulation/location_monitor/scripts/location_monitor_node.py
diff --git a/Simulation/location_monitor/scripts/location_monitor_node.py b/Simulation/location_monitor/scripts/location_monitor_node.py
new file mode 100644
index 0000000..bb4a6cf
--- /dev/null
+++ b/Simulation/location_monitor/scripts/location_monitor_node.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python
+
+import math
+import rospy
+from nav_msgs.msg import Odometry
+from gazebo_msgs.srv import GetModelState
+
+
+botx = 0
+boty = 0
+
+class Block:
+ def __init__(self, name, relative_entity_name):
+ self._name = name
+ self._relative_entity_name = relative_entity_name
+
+
+class Tutorial:
+
+ _blockListDict = {
+ 'block_a': Block('ball' , 'link'),
+ }
+
+ def show_gazebo_models(self):
+
+ try:
+ model_coordinates = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState)
+ for block in self._blockListDict.itervalues():
+ blockName = str(block._name)
+ resp_coordinates = model_coordinates(blockName, block._relative_entity_name)
+ l_x = resp_coordinates.pose.position.x
+ l_y = resp_coordinates.pose.position.y
+ dist = distance(botx, boty, l_x, l_y)
+ print(dist)
+ if dist < 0.20:
+ rospy.loginfo("Collision!")
+
+
+ print(blockName)
+ print("X: " + str(l_x))
+ print("Y: " + str(l_y))
+ dist = 0
+
+ except rospy.ServiceException as e:
+ rospy.loginfo("Get Model State service call failed: {0}".format(e))
+
+
+def distance(x1, y1, x2, y2):
+ dist = math.sqrt((x2 - x1)**2 + (y2 - y1)**2)
+ return dist
+
+
+def callback(msg):
+ botx = msg.pose.pose.position.x
+ boty = msg.pose.pose.position.y
+ print("BotX: " + str(botx))
+ print("BotY: " + str(boty))
+ tuto = Tutorial()
+ tuto.show_gazebo_models()
+
+
+
+def main():
+ rospy.init_node('location_monitor')
+ rospy.Subscriber("/odom", Odometry, callback)
+ rospy.spin()
+
+if __name__ == '__main__':
+ main()
--
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