def get_observations(self):
timestamp, observations = BOVehicleSimulation.get_observations(self)
if self.viz_level >= VizLevel.Sensels:
self.publish_ros_sensels(observations)
if self.viz_level >= VizLevel.State:
from . import String
y = self.to_yaml()
s = yaml.dump(y)
self.pub_state.publish(String(s))
return timestamp, observations
