def main() -> bool:
parser = argparse.ArgumentParser(
prog="ros.py",
description="PathBench 2D ROS extension runner",
formatter_class=argparse.RawTextHelpFormatter)
configurers: List[Callable[[Configuration, argparse.Namespace], bool]] = []
configurers.append(
add_configuration_flags(parser,
visualiser_flags=True,
algorithms_flags=True,
multiple_algorithms_specifiable=False))
parser.add_argument("-g",
"--goal",
nargs=2,
type=int,
help="goal position \"x y\"")
args = parser.parse_args()
print("args:{}".format(args))
config = Configuration()
for c in configurers:
if not c(config, args):
return False
if args.algorithm:
config.algorithm_name = list(config.algorithms.keys())[0]
config.simulator_algorithm_type, config.simulator_testing_type, config.simulator_algorithm_parameters = config.algorithms[
config.algorithm_name]
goal = Point(*args.goal) if args.goal else None
ros = Ros()
ros.start(config, goal)
return True
def main() -> bool:
parser = argparse.ArgumentParser(
prog="ros.py",
description="ROS 2D Occupancy Grid Publish-Subscriber Demo",
formatter_class=argparse.RawTextHelpFormatter)
configurers: List[Callable[[Configuration, argparse.Namespace], bool]] = []
configurers.append(
add_configuration_flags(parser,
visualiser_flags=True,
algorithms_flags=True,
multiple_algorithms_specifiable=False))
parser.add_argument("-f",
"--fake",
action="store_true",
help="fake the ROS publisher")
args = parser.parse_args()
print("args:{}".format(args))
config = Configuration()
for c in configurers:
if not c(config, args):
return False
if args.algorithm:
config.algorithm_name = list(config.algorithms.keys())[0]
config.simulator_algorithm_type, config.simulator_testing_type, config.simulator_algorithm_parameters = config.algorithms[
config.algorithm_name]
ros = Ros(fake=args.fake)
ros.start(config)
return True