color='black',
linestyle=':',
linewidth=4)
plt.xlabel('x')
plt.ylabel('y')
plt.title('UGV Path')
plt.show()
sys.exit(1)
previous_time = rospy.get_time()
agents_publisher.publish(msg)
rate.sleep()
if __name__ == '__main__':
path = '../data/path.csv'
df = pd.read_csv(path)
coordinates = df.to_numpy()
ideal_condition = 3
ideal_bicycle = Bicycle(coordinates)
ideal_bicycle.createPath()
fault_condition = 1
fault_bicycle = Bicycle(coordinates)
fault_bicycle.createPath()
driveClosedLoop(ideal_bicycle, fault_bicycle, ideal_condition,
fault_condition)
path.append(list(point.coordinate))
else:
path = np.array(path)
print(path)
print("STOP")
stop = 1
if stop and not target:
# print(path)
# f = open('/home/conor/catkin_ws/src/network_faults/data/path.csv', 'w')
# np.savetxt(f, path, delimiter=",")
trials = 100
ideal_condition = 0
ideal_bicycle = Bicycle(path)
ideal_bicycle.createPath()
healthy_fault_condition = 1
healthy_fault_bicycle = Bicycle(path)
healthy_fault_bicycle.createPath()
healthy_fault_bicycle.readNoiseFunction()
healthy_fault_bicycle.setNoiseFunction(healthy_fault_condition)
healthy_fault_bicycle.driveOpenLoop(healthy_fault_condition, 'green')
left_fault_condition = 2
left_fault_bicycle = Bicycle(path)
left_fault_bicycle.createPath()
left_fault_bicycle.readNoiseFunction()
left_fault_bicycle.setNoiseFunction(left_fault_condition)
left_fault_bicycle.driveOpenLoop(left_fault_condition, 'red')