def read_obstacles_server():
rospy.init_node('read_obstacles_server')
rospy.Service('read_obstacles', ReadObstacles, handle_obstacles)
# Store obstacles in Parameter Server
vec, size = obstacles_functions.read_obstacles_function(file_path)
rospy.set_param(PARAM_NAME_OBSTACLES, vec)
rospy.set_param(PARAM_NAME_SIZE, size)
rospy.spin()
def handle_obstacles(req):
"""
Callback to read obstacles
:param req:
:return:
"""
# print("Returning obstacles from file [%s]" % req.file)
vec, size = obstacles_functions.read_obstacles_function(req.file)
# print("Obstacles of size %s are : [%s]" % (size, vec))
return ReadObstaclesResponse(size, vec)
def check_point_server(file_path):
rospy.init_node('check_point_server')
rospy.Service('check_point', CheckPoint, check_if_valid)
# Store obstacles in Parameter Server
vec, size = obstacles_functions.read_obstacles_function(file_path)
rospy.set_param(PARAM_NAME_OBSTACLES, vec)
rospy.set_param(PARAM_NAME_SIZE, size)
print("Loaded obstacles in file: " + file_path)
print("Now ready to check if point is valid")
rospy.spin()
def check_connection_server(file_path):
"""
Define server for check_connection
:param file_path: path from which one can retrieve obstacles
"""
rospy.init_node('check_connection_server')
rospy.Service('check_connection', CheckConnection, check_if_valid)
# Store obstacles in Parameter Server
vec, size = obstacles_functions.read_obstacles_function(file_path)
rospy.set_param(PARAM_NAME_OBSTACLES, vec)
rospy.set_param(PARAM_NAME_SIZE, size)
print("Loaded obstacles from file: " + file_path)
print("Now ready to check if connections are valid")
rospy.spin()
def handle_obstacles(req):
print("Returning obstacles from file [%s]" % req.file)
vec, size = obstacles_functions.read_obstacles_function(req.file)
print("Obstacles of size %s are : [%s]" % (size, vec))
return ReadObstaclesResponse(size, vec)
