def __init__(self):
# Save the name of the node
self.node_name = rospy.get_name()
rospy.loginfo("[%s] Initializing." %(self.node_name))
# Setup publishers
self.pub_markers = rospy.Publisher("visualization_marker",Marker, queue_size=1)
self.pub_marker_arrays = rospy.Publisher("visualization_marker_array", MarkerArray, \
queue_size=1)
# Setup subscribers
#self.sub_marker_arrays = rospy.Subscriber("visualization_marker_array", MarkerArray, \
# self.cbTopic)
# Read parameters
self.pub_timestep = self.setupParameter("~pub_timestep",1.0)
# TODO rmata: parameter for map: map.yam
# === Load tiles and maps === #
rospack = rospkg.RosPack()
self.pkg_path = rospack.get_path('simcity')
self.mapfile = self.setupParameter("~map_file", self.pkg_path+"/maps/map.yaml")
self.tilesfile = self.setupParameter("~tiles_file", self.pkg_path+"/tiles/tiles.yaml")
# Create a timer that calls the cbTimer function every 1.0 second
self.tile_factory = TileProduction(self.mapfile, self.tilesfile)
self.timer = rospy.Timer(rospy.Duration.from_sec(self.pub_timestep),self.cbTimer)
self.tile_index = 0
rospy.loginfo("[%s] Initialized." %(self.node_name))
class BasicMapTiler(object):
def __init__(self):
# Save the name of the node
self.node_name = rospy.get_name()
rospy.loginfo("[%s] Initializing." %(self.node_name))
# Setup publishers
self.pub_markers = rospy.Publisher("visualization_marker",Marker, queue_size=1)
self.pub_marker_arrays = rospy.Publisher("visualization_marker_array", MarkerArray, \
queue_size=1)
# Setup subscribers
#self.sub_marker_arrays = rospy.Subscriber("visualization_marker_array", MarkerArray, \
# self.cbTopic)
# Read parameters
self.pub_timestep = self.setupParameter("~pub_timestep",1.0)
# TODO rmata: parameter for map: map.yam
# === Load tiles and maps === #
rospack = rospkg.RosPack()
self.pkg_path = rospack.get_path('simcity')
self.mapfile = self.setupParameter("~map_file", self.pkg_path+"/maps/map.yaml")
self.tilesfile = self.setupParameter("~tiles_file", self.pkg_path+"/tiles/tiles.yaml")
# Create a timer that calls the cbTimer function every 1.0 second
self.tile_factory = TileProduction(self.mapfile, self.tilesfile)
self.timer = rospy.Timer(rospy.Duration.from_sec(self.pub_timestep),self.cbTimer)
self.tile_index = 0
rospy.loginfo("[%s] Initialized." %(self.node_name))
def setupParameter(self,param_name,default_value):
value = rospy.get_param(param_name,default_value)
rospy.set_param(param_name,value) #Write to parameter server for transparancy
rospy.loginfo("[%s] %s = %s " %(self.node_name,param_name,value))
return value
def cbTopic(self,msg):
rospy.loginfo("[%s] Received markarray number %s" %(self.node_name, self.tile_index))
self.tile_index += 1
# does the publishing of actual markers
def cbTimer(self,event):
while (self.pub_marker_arrays.get_num_connections() < 1):
if rospy.is_shutdown():
return 0
rospy.loginfo("Please create a subscriber to the marker")
self.tile_index = 0 # reset markerarray count
rospy.sleep(5)
#continue through the list of tiles in the map
if self.pub_marker_arrays.get_num_connections() >= 1:
if self.tile_index >= self.tile_factory.get_num_tiles_in_map():
return
fullmsg = self.tile_factory.get_certain_tile_message(self.tile_index)
self.pub_marker_arrays.publish(fullmsg)
self.tile_index += 1
def on_shutdown(self):
rospy.loginfo("[%s] Shutting down." %(self.node_name))
