def end_sim(self):
self.log_event_request()
if self.debug:
rospy.logwarn('Utility Monitor Nodes: {}'.format(self.utility_monitors_nodes))
while len(self.collected_logs) <= len(self.utility_monitors_nodes):
if self.debug:
rospy.logwarn('Waiting for results...')
self.sleep_rate.sleep()
if self.debug:
self.compile_results()
self.mission_launch.shutdown()
self.utility_monitors_launch.shutdown()
# Load results into the next state change msg
msg = EvoROS2State()
msg.result = []
for x in range(len(self.collected_logs)):
msg.result.append(Float64Array())
for index, log_array in enumerate(self.collected_logs):
msg.result[index].header = self.result_headers[index]
msg.result[index].data = copy.deepcopy(log_array)
return msg
def set_evo_ros2_state(self, new_state_value):
"""
Evo-ROS state change procedure
"""
rospy.set_param('evo_ros2_state', new_state_value)
msg = EvoROS2State()
msg.sender = self.node_name
msg.state = new_state_value
self.evo_ros2_comm_pub.publish(msg)
def end_sim(self):
self.mission_launch.shutdown()
# Load results into the next state change msg
msg = EvoROS2State()
msg.result = []
for x in range(len(self.log)):
msg.result.append(Float64Array())
#print(self.log)
#print(self.result_headers)
for index, log_array in enumerate(self.log):
msg.result[index].header = self.result_headers[index]
msg.result[index].data = copy.deepcopy(log_array)
return msg
def set_evo_ros2_state(self, new_state_value):
rospy.set_param('evo_ros2_state', new_state_value)
msg = EvoROS2State()
msg.sender = self.node_name
msg.state = new_state_value
self.evo_ros2_comm_pub.publish(msg)