def __init__(self, **params):
import rospy
contracts.disable_all() # XXX
self.viz_level = params.get('viz_level', VizLevel.Everything)
if self.viz_level > VizLevel.Nothing:
from . import Marker, Image
self.publisher = rospy.Publisher('~markers', Marker)
self.pub_sensels_image = rospy.Publisher('~sensels_image', Image)
self.pub_commands_image = rospy.Publisher('~commands_image', Image)
self.first_time = True
if self.viz_level >= VizLevel.State:
from . import String
self.pub_state = rospy.Publisher('~state', String)
BOVehicleSimulation.__init__(self, **params)
