add ploting python file

catkin_ws/src/asclinic_pkg/src/forklift/ppf.py

+#!/usr/bin/env python3
+
+import rospy
+
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Twist
+import matplotlib.pyplot as plt
+
+# Global variables to store position data
+x_data = []
+y_data = []
+
+# Obstacle coordinates
+ox = []
+oy = []
+
+# Define obstacles
+for i in range(-4, 6):
+    ox.append(-2)
+    oy.append(i)
+for i in range(-4, 6):
+    ox.append(8)
+    oy.append(i)
+for i in range(-2, 9):
+    ox.append(i)
+    oy.append(5)
+for i in range(-2, 9):
+    ox.append(i)
+    oy.append(-4)
+# Table obstacles
+for i in range(25, 36, 5):  # Range from 2.5 to 3.4 (exclusive), multiplied by 10 for integer range
+    ox.append(i / 10)  # Divide by 10 to get the actual floating-point value
+    oy.append(-3.25)
+for i in range(25, 36, 5):
+    ox.append(i / 10)
+    oy.append(-2.75)
+for i in range(-325, -275, 50):  # Range from -3.25 to 2.74 (exclusive), multiplied by 100 for integer range
+    ox.append(2.5)
+    oy.append(i / 100)  # Divide by 100 to get the actual floating-point value
+for i in range(-325, -275, 50):
+    ox.append(3.5)
+    oy.append(i / 100)
+
+# Additional obstacles
+ox1 =[1.973, 2.033, 3.982, 3.982, 5.953, 6.013, 7.956, 7.956, 7.986, 7.986, 0.0, 0.0, -1.99, -1.99, 0.0, 2.315, 3.0, 3.687, 5.045, 7.712, 5.983, 3.982, 2.003, 0.0, -1.99, 7.712]
+
+oy1 =[0.0, 0.0, 0.955, 1.015, 0.0, 0.0, 0.955, 1.015, -0.106, 2.0, 0.955, 1.015, 0.0, -3.0, -4.523, -3.1, -2.696, -3.1, -4.523, 4.0, 5.474, 5.474, 5.474, 5.474, 3.0, -2.0]
+ox.extend(ox1)
+oy.extend(oy1)
+
+def position_callback(msg):
+    global x_data, y_data
+    x_data.append(msg.pose.pose.position.x)
+    y_data.append(msg.pose.pose.position.y)
+
+def main():
+    rospy.init_node('ppf')
+    rospy.Subscriber('/odom', Odometry, position_callback)
+
+    plt.ion()  # Enable interactive mode
+    fig, ax = plt.subplots()
+    rate = rospy.Rate(5)  # Adjust the rate as needed
+
+    while not rospy.is_shutdown():
+        ax.clear()
+        ax.plot(ox, oy, 'ro', label='Obstacles')  # Plot obstacles
+        ax.plot(x_data, y_data, 'b-', label='Path')
+        
+        ax.set_xlabel('X Position')
+        ax.set_ylabel('Y Position')
+        ax.set_title('Robot Position Plot')
+        ax.grid(True)
+        ax.legend()
+        plt.pause(0.1)
+        rate.sleep()
+
+    plt.ioff()
+    plt.show()
+
+if __name__ == '__main__':
+    try:
+        main()
+    except rospy.ROSInterruptException:
+        pass