def test_get_racecar_names(racecar_num, racer_names):
"""This function checks the functionality of get_racecar_names function
in markov/utils.py
Args:
racecar_num (int): The number of racecars
racer_names (List): Returned list of racecar names
"""
assert utils.get_racecar_names(racecar_num) == racer_names
Arguments:
racecar_names (str): The name of the racecar
"""
pub_list = list()
bridge = CvBridge()
for racecar_name in racecar_names:
camera_topics = get_racecar_camera_topics(racecar_name)
for topic in camera_topics:
pub_list.append(rospy.Publisher(topic, ROSImg, queue_size=1))
# Publishing frames at 15Hz
rate = rospy.Rate(15)
img_id = 0
while not rospy.is_shutdown():
img = get_next_img(img_id)
img_id = (img_id + 1) % TOTAL_IMAGES
frame = bridge.cv2_to_imgmsg(img, "bgr8")
for pub in pub_list:
pub.publish(frame)
rate.sleep()
if __name__ == '__main__':
try:
rospy.init_node('mock_camera_topic_nodes', anonymous=True)
RACER_NUM = int(sys.argv[1])
RACECAR_NAMES = get_racecar_names(RACER_NUM)
main(RACECAR_NAMES)
except rospy.ROSInterruptException:
pass
racecar_name.split("_")) == 1 else "agent_{}".format(
racecar_name.split("_")[1])
camera_info = utils.get_cameratype_params(racecar_name, agent_name)
save_to_mp4_obj = SaveToMp4(
camera_infos=[
camera_info[CameraTypeParams.CAMERA_PIP_PARAMS],
camera_info[CameraTypeParams.CAMERA_45DEGREE_PARAMS],
camera_info[CameraTypeParams.CAMERA_TOPVIEW_PARAMS]
],
fourcc=Mp4Parameter.FOURCC.value,
fps=Mp4Parameter.FPS.value,
frame_size=Mp4Parameter.FRAME_SIZE.value)
rospy.Service(
'/{}/save_mp4/subscribe_to_save_mp4'.format(racecar_name),
Empty, save_to_mp4_obj.subscribe_to_save_mp4)
rospy.Service(
'/{}/save_mp4/unsubscribe_from_save_mp4'.format(racecar_name),
Empty, save_to_mp4_obj.unsubscribe_to_save_mp4)
except Exception as err_msg:
log_and_exit("Exception in save_mp4 ros node: {}".format(err_msg),
SIMAPP_SIMULATION_SAVE_TO_MP4_EXCEPTION,
SIMAPP_EVENT_ERROR_CODE_500)
if __name__ == '__main__':
rospy.init_node('save_to_mp4', anonymous=True)
RACER_NUM = int(sys.argv[1])
racecar_names = get_racecar_names(RACER_NUM)
main(racecar_names)
rospy.spin()
car_model_pose = lane.interpolate_pose(
distance=self.start_positions[racecar_idx],
normalized=False,
finite_difference=FiniteDifference.FORWARD_DIFFERENCE)
# Construct the model state and send to Gazebo
car_model_state = ModelState()
car_model_state.model_name = racecar_name
car_model_state.pose = car_model_pose
car_model_state.twist.linear.x = 0
car_model_state.twist.linear.y = 0
car_model_state.twist.linear.z = 0
car_model_state.twist.angular.x = 0
car_model_state.twist.angular.y = 0
car_model_state.twist.angular.z = 0
self.model_state_client(car_model_state)
return car_model_state
if __name__ == '__main__':
rospy.init_node('car_reset_node', anonymous=True)
try:
# comma separated racecar names passed as an argument to the node
RACER_NUM = int(sys.argv[1])
racecar_names = utils.get_racecar_names(RACER_NUM)
DeepRacer(racecar_names)
except Exception as ex:
log_and_exit("Exception in car node: {}".format(ex),
SIMAPP_CAR_NODE_EXCEPTION,
SIMAPP_EVENT_ERROR_CODE_500)
rospy.spin()