def __init__(self, mapTopicName="/map"):
self.frontPub = rospy.Publisher("/frontier", GridCells, latch=True)
self.expandedPub = rospy.Publisher("/expanded", GridCells, latch=True)
self.pathPub = rospy.Publisher("/path", GridCells, latch=True)
self.wpPub = rospy.Publisher("/wayPoints", GridCells, latch=True)
self.goalsPub = rospy.Publisher("/goals", GridCells, latch=True)
self.holster = MapHolster(mapTopicName) # Needed to convert points to cells
rospy.sleep(rospy.Duration(1.1, 0)) # need to be damn sure teh holster has a map
class YellowPublisher:
# initializes all publishers and a MapHolster instance
def __init__(self, mapTopicName="/map"):
self.frontPub = rospy.Publisher("/frontier", GridCells, latch=True)
self.expandedPub = rospy.Publisher("/expanded", GridCells, latch=True)
self.pathPub = rospy.Publisher("/path", GridCells, latch=True)
self.wpPub = rospy.Publisher("/wayPoints", GridCells, latch=True)
self.goalsPub = rospy.Publisher("/goals", GridCells, latch=True)
self.holster = MapHolster(mapTopicName) # Needed to convert points to cells
rospy.sleep(rospy.Duration(1.1, 0)) # need to be damn sure teh holster has a map
# Send points to the frontier topic
def sendToGoals(self, points):
self.goalsPub.publish(self.holster.makeMessage(points))
# Send points to the frontier topic
def sendToFrontier(self, points):
self.frontPub.publish(self.holster.makeMessage(points))
# Send points to the path topic
def sendToPath(self, points):
self.pathPub.publish(self.holster.makeMessage(points))
# Send points to the expanded topic
def sendToExpanded(self, points):
self.expandedPub.publish(self.holster.makeMessage(points))
# Send points to the expanded topic
def sendToWaypoints(self, points):
self.wpPub.publish(self.holster.makeMessage(points))
# Clears each topic
def clearTopics(self):
self.sendToWaypoints([])
self.sendToExpanded([])
self.sendToPath([])
self.sendToFrontier([])
