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simple command costmap api - first few functions #3159

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merged 5 commits into from
Aug 31, 2022
Merged

simple command costmap api - first few functions #3159

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0e6f264
initial commit costmap_2d template
stevedanomodolor Aug 30, 2022
33df9c3
finish task A and tested
stevedanomodolor Aug 30, 2022
0d0c58d
lint
stevedanomodolor Aug 31, 2022
2b09111
Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py
stevedanomodolor Aug 31, 2022
7cba887
fix trailing underscores
stevedanomodolor Aug 31, 2022
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28 changes: 28 additions & 0 deletions nav2_simple_commander/nav2_simple_commander/costmap_2d.py
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#! /usr/bin/env python3
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from nav_msgs.msg import OccupancyGrid
import numpy as np

class PyCostmap2D:
def __init__(self, map):
self.size_x_ = map.info.width;
self.size_y_ = map.info.height;
self.resolution_ = map.info.resolution;
self.origin_x_ = map.info.origin.position.x;
self.origin_y_ = map.info.origin.position.y;
self.costmap_ = np.array(msg.data, dtype=np.int8).reshape(self.size_y_, self.size_x_)
def getSizeinMetersX(self):
...
def getSizeInCellsY(self):
...
def getSizeInMetersX(self):
...
def getOriginX(self):
...
def getOriginY(self):
...
def getResolution(self):
...
def getGlobalFrameID(self):
...
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def getCostmapTimestamp(self):
...