Test script for ticket ros-visualization#1826

src/test/map_test.py

@@ -3,30 +3,36 @@
 from nav_msgs.msg import OccupancyGrid
 import rospy
 import math
+from PIL import Image
+from PIL.ImageOps import flip, grayscale, invert
 
 topic = "moving_map"
-publisher = rospy.Publisher(topic, OccupancyGrid)
+publisher = rospy.Publisher(topic, OccupancyGrid, queue_size=1)
 
 rospy.init_node("map_test")
 
 grid = OccupancyGrid()
 
 t = 0
 
+image = flip(grayscale(Image.open("../../images/splash.png")))
+
 while not rospy.is_shutdown():
     grid.header.frame_id = "map"
     grid.header.stamp = rospy.Time.now()
     grid.info.map_load_time = rospy.Time.now()
-    grid.info.resolution = 1.0
-    grid.info.width = 3
-    grid.info.height = 3
+    grid.info.resolution = 0.02
+    grid.info.width = image.width
+    grid.info.height = image.height
     grid.info.origin.position.x = math.cos(t)
     grid.info.origin.position.y = math.sin(t)
     grid.info.origin.orientation.w = 1.0
-    grid.data = [0, 20, 40, 60, 80, 100, 120, -10, -100]
 
-    # Publish the MarkerArray
+    image = invert(image)
+    grid.data = [x - 128 for x in image.getdata()]
+
+    # Publish the OccupancyGrid
     publisher.publish(grid)
 
-    rospy.sleep(0.05)
-    t += 0.1
+    rospy.sleep(2)
+    t += 1