def create_spoofs(self):
sg = SpoofGenerator()
empty = PerceptionObjectArray()
stc = PerceptionObjectArray()
stc_shooter = PerceptionObjectArray()
stc_obj = PerceptionObject()
stc_obj.name = "scan_the_code"
shooter_obj = PerceptionObject()
shooter_obj.name = "shooter"
empty.objects = []
stc.objects = [stc_obj]
stc_shooter.objects = [stc_obj, shooter_obj]
empty_resp = ObjectDBQueryResponse()
stc_resp = ObjectDBQueryResponse()
stc_resp.objects = [stc_obj]
stc_resp.found = True
self.service = sg.spoof_service("/database/requests", ObjectDBQuery, [empty_resp])
self.service_missing = sg.spoof_service("/database/requests", ObjectDBQuery,
[stc_resp, empty_resp, empty_resp, stc_resp])
self.pub_base_mission = sg.spoof_publisher("/database/objects", PerceptionObjectArray, [empty, stc], [5, 1000])
self.pub_normal_1 = sg.spoof_publisher("/database/objects", PerceptionObjectArray,
[empty, stc, stc_shooter], [5, 5, 100])
self.pub_normal_2 = sg.spoof_publisher("/database/objects", PerceptionObjectArray,
[empty, stc, stc_shooter], [5, 5, 100])
self.pub_fail_mission = sg.spoof_publisher("/database/objects", PerceptionObjectArray, [], [])
self.pub_missing_objects = sg.spoof_publisher(
"/database/objects", PerceptionObjectArray, [stc, empty, stc], [4, 10, 100])
self.timeout = sg.spoof_publisher("/database/objects", PerceptionObjectArray, [], [])
self.obj_appear = sg.spoof_publisher("/database/objects", PerceptionObjectArray, [empty, stc], [3, 10000])
def position_to_object(self, position, color, id, name="totem"):
obj = PerceptionObject()
obj.id = int(id)
obj.header = navigator_tools.make_header(frame="enu")
obj.name = name
obj.position = navigator_tools.numpy_to_point(position)
obj.color.r = color[0]
obj.color.g = color[1]
obj.color.b = color[2]
obj.color.a = 1
return obj
def create_spoofs(self):
sg = SpoofGenerator()
empty = PerceptionObjectArray()
stc = PerceptionObjectArray()
stc_shooter = PerceptionObjectArray()
stc_obj = PerceptionObject()
stc_obj.name = "scan_the_code"
shooter_obj = PerceptionObject()
shooter_obj.name = "shooter"
empty.objects = []
stc.objects = [stc_obj]
stc_shooter.objects = [stc_obj, shooter_obj]
empty_resp = ObjectDBQueryResponse()
stc_resp = ObjectDBQueryResponse()
stc_resp.objects = [stc_obj]
service = sg.spoof_service("/database/requests", ObjectDBQuery, [empty_resp])
yield service.start(self.nh)
self.pub_base_mission = sg.spoof_publisher("/database/objects", PerceptionObjectArray, [empty, stc], [5, 1000])
self.pub_normal_1 = sg.spoof_publisher("/database/objects", PerceptionObjectArray, [empty, stc, stc_shooter], [5, 5, 100])
self.pub_normal_2 = sg.spoof_publisher("/database/objects", PerceptionObjectArray, [empty, stc, stc_shooter], [5, 5, 100])
self.pub_fail_mission = sg.spoof_publisher("/database/objects", PerceptionObjectArray, [], [])
self.pub_missing_objects = sg.spoof_publisher("/database/objects", PerceptionObjectArray, [stc, empty, stc], [4, 10, 100])
self.timeout = sg.spoof_publisher("/database/objects", PerceptionObjectArray, [], [])
self.obj_appear = sg.spoof_publisher("/database/objects", PerceptionObjectArray, [empty, stc], [3, 10000])
def position_to_object(self, position, color, id, name="totem"):
obj = PerceptionObject()
obj.id = int(id)
obj.header = navigator_tools.make_header(frame="enu")
obj.name = name
obj.position = navigator_tools.numpy_to_point(position)
obj.color.r = color[0]
obj.color.g = color[1]
obj.color.b = color[2]
obj.color.a = 1
return obj
def create_spoofs(self):
sg = SpoofGenerator()
empty = PerceptionObjectArray()
stc = PerceptionObjectArray()
stc_shooter = PerceptionObjectArray()
stc_obj = PerceptionObject()
stc_obj.name = "ScanTheCode"
stc_obj.position = Point(1, 1, 1)
shooter_obj = PerceptionObject()
shooter_obj.name = "Shooter"
shooter_obj.position = Point(2, 2, 2)
empty.objects = []
stc.objects = [stc_obj]
stc_shooter.objects = [stc_obj, shooter_obj]
empty_resp = ObjectDBQueryResponse()
all_marker = ObjectDBQueryResponse()
stc_response = ObjectDBQueryResponse()
shooter_response = ObjectDBQueryResponse()
all_marker.found = True
all_marker.objects = [stc_obj, shooter_obj]
all_marker.found = True
stc_response.objects = [stc_obj]
stc_response.found = True
shooter_response.objects = [shooter_obj]
shooter_response.found = True
odom = Odometry()
odom.pose.pose.position = Point(0, 0, 0)
self.pub_base_mission = sg.spoof_publisher("/odom", Odometry, [odom], [100000])
self.serv_empty = sg.spoof_service("/database/requests", ObjectDBQuery, [empty_resp])
self.serv_markers = sg.spoof_service("/database/requests", ObjectDBQuery, [all_marker])
self.serv_normal_mission = sg.spoof_service(
"/database/requests",
ObjectDBQuery,
[
stc_response,
shooter_response,
stc_response,
stc_response,
shooter_response,
shooter_response,
stc_response,
],
)
self.serv_missing_marker = sg.spoof_service(
"/database/requests",
ObjectDBQuery,
[
empty_resp,
stc_response,
shooter_response,
stc_response,
stc_response,
shooter_response,
shooter_response,
stc_response,
],
)
self.markers = sg.spoof_publisher("/database/objects", PerceptionObjectArray, [stc_shooter], [1000])
self.empty = sg.spoof_publisher("/database/objects", PerceptionObjectArray, [empty], [1000])
def create_spoofs(self):
sg = SpoofGenerator()
empty = PerceptionObjectArray()
stc = PerceptionObjectArray()
stc_shooter = PerceptionObjectArray()
stc_marker_obj = PerceptionObject()
stc_marker_obj.name = "Scan_The_Code"
stc_marker_obj.position = Point(1, 1, 1)
shooter_marker_obj = PerceptionObject()
shooter_marker_obj.name = "Shooter"
shooter_marker_obj.position = Point(2, 2, 2)
stc_obj = PerceptionObject()
stc_obj.name = "scan_the_code"
stc_obj.position = Point(1, 1, 1)
shooter_obj = PerceptionObject()
shooter_obj.name = "shooter"
shooter_obj.position = Point(2, 2, 2)
empty.objects = []
stc.objects = [stc_marker_obj]
stc_shooter.objects = [stc_marker_obj, shooter_marker_obj]
empty_resp = ObjectDBQueryResponse()
all_marker = ObjectDBQueryResponse()
stc_response = ObjectDBQueryResponse()
shooter_response = ObjectDBQueryResponse()
all_marker.found = True
all_marker.objects = [stc_marker_obj, shooter_marker_obj]
all_marker.found = True
stc_response.objects = [stc_marker_obj]
stc_response.found = True
shooter_response.objects = [shooter_marker_obj]
shooter_response.found = True
odom = Odometry()
odom.pose.pose.position = Point(0, 0, 0)
self.pub_base_mission = sg.spoof_publisher("/odom", Odometry, [odom],
[100000])
self.serv_empty = sg.spoof_service("/database/requests", ObjectDBQuery,
[empty_resp])
self.serv_markers = sg.spoof_service("/database/requests",
ObjectDBQuery, [all_marker])
self.serv_markers_empty = sg.spoof_service(
"/database/requests", ObjectDBQuery, [
empty_resp, all_marker, all_marker, all_marker, all_marker,
all_marker, all_marker, all_marker, all_marker, all_marker,
all_marker, all_marker, all_marker, all_marker, all_marker,
all_marker, all_marker
])
# self.missing_marker = sg.spoof_service("/database/requests", ObjectDBQuery, [stc_response,
# shooter_response,
# stc_response,
# stc_response,
# shooter_response,
# shooter_response,
# stc_response])
# self.serv_missing_marker = sg.spoof_service("/database/requests", ObjectDBQuery, [empty_resp,
# stc_response,
# shooter_response,
# stc_response,
# stc_response,
# shooter_response,
# shooter_response,
# stc_response])
self.markers = sg.spoof_publisher("/database/objects",
PerceptionObjectArray, [stc_shooter],
[1000])
self.empty = sg.spoof_publisher("/database/objects",
PerceptionObjectArray, [empty], [1000])