def __init__(self):
print("loading model...")
self.cnn = Model()
self.new_goal = False
self.message_sent = False
self.goals = GoalManager()
self.laser = None
self.goal = None
self.command = None
self.pose = None
print("...done.")
self.cmd_pub = rospy.Publisher("/cmd_vel", Twist, queue_size=10)
self.goal_pub = rospy.Publisher("/goal_reached", String, queue_size=10)
self.acc_pub = rospy.Publisher("/accuracy",String, queue_size=10)
self.data_pub = rospy.Publisher('/data', Float64MultiArray,queue_size=10)
self.scan_sub = rospy.Subscriber("/base_scan", numpy_msg(LaserScan), self.laser_callback)
self.goal_sub = rospy.Subscriber("/move_base/goal", MoveBaseActionGoal, self.goal_callback)
self.pose_sub = rospy.Subscriber("/amcl_pose", PoseWithCovarianceStamped, self.pose_callback)
self.stall_sub = rospy.Subscriber("/stall", Bool, self.stall_callback)
self.twist_msg = Twist()
self.string_msg = String()
self.data_msg = Float64MultiArray()
print("\nAwaiting first goal!")
time.sleep(2)
self.string_msg.data = 's'
self.goal_pub.publish(self.string_msg)
self.string_msg.data = ''
def __init__(self, settings):
print("loading model...")
self.dae1 = Model(settings.model1)
self.dae2 = None
if hasattr(settings, 'model2'):
self.dae2 = Model(settings.model2)
self.new_goal = False
self.message_sent = False
self.goals = GoalManager(settings)
self.laser1 = None
self.goal1 = None
self.command1 = None
in_count = 0
if self.dae1.model.mmdae_type[0]:
self.laser1 = SequenceInput(self.dae1.model.dims[in_count],
self.dae1.model.mean[in_count],
self.dae1.model.std[in_count],
self.dae1.model.sequence,
self.dae1.model.normalise[in_count])
in_count += 1
if self.dae1.model.mmdae_type[1]:
self.goal1 = SequenceInput(self.dae1.model.dims[in_count],
self.dae1.model.mean[in_count],
self.dae1.model.std[in_count],
self.dae1.model.sequence,
self.dae1.model.normalise[in_count])
in_count += 1
if self.dae1.model.mmdae_type[2]:
self.command1 = SequenceInput(self.dae1.model.dims[in_count],
self.dae1.model.mean[in_count],
self.dae1.model.std[in_count],
self.dae1.model.sequence,
self.dae1.model.normalise[in_count])
in_count += 1
self.laser2 = None
self.goal2 = None
self.command2 = None
if self.dae2 is not None:
in_count = 0
if self.dae2.model.mmdae_type[0]:
self.laser2 = SequenceInput(
self.dae2.model.dims[in_count],
self.dae2.model.mean[in_count],
self.dae2.model.std[in_count], self.dae2.model.sequence,
self.dae2.model.normalise[in_count])
in_count += 1
if self.dae2.model.mmdae_type[1]:
self.goal2 = SequenceInput(self.dae2.model.dims[in_count],
self.dae2.model.mean[in_count],
self.dae2.model.std[in_count],
self.dae2.model.sequence,
self.dae2.model.normalise[in_count])
in_count += 1
if self.dae2.model.mmdae_type[2]:
self.command2 = SequenceInput(
self.dae2.model.dims[in_count],
self.dae2.model.mean[in_count],
self.dae2.model.std[in_count], self.dae2.model.sequence,
self.dae2.model.normalise[in_count])
in_count += 1
print("...done.")
self.cmd_pub = rospy.Publisher("/cmd_vel", Twist, queue_size=10)
self.goal_pub = rospy.Publisher("/goal_reached", String, queue_size=10)
self.acc_pub = rospy.Publisher("/accuracy", String, queue_size=10)
self.data_pub = rospy.Publisher('/data',
Float64MultiArray,
queue_size=10)
self.scan_sub = rospy.Subscriber(settings.topic, numpy_msg(LaserScan),
self.laser_callback)
self.goal_sub = rospy.Subscriber("/goal", String, self.goal_callback)
self.pose_sub = rospy.Subscriber("/amcl_pose",
PoseWithCovarianceStamped,
self.pose_callback)
self.stall_sub = rospy.Subscriber("/stall", Bool, self.stall_callback)
self.twist_msg = Twist()
self.string_msg = String()
self.data_msg = Float64MultiArray()
print("\nAwaiting first goal!")
time.sleep(2)
self.string_msg.data = 's'
self.goal_pub.publish(self.string_msg)
self.string_msg.data = ''
