def main():
"""
Main rosnode
"""
rospy.init_node('mock_routing_requester', anonymous=True)
sequence_num = 0
routing_request = routing_pb2.RoutingRequest()
routing_request.header.timestamp_sec = rospy.get_time()
routing_request.header.module_name = 'routing_request'
routing_request.header.sequence_num = sequence_num
sequence_num = sequence_num + 1
waypoint = routing_request.waypoint.add()
waypoint.pose.x = 587696.82286
waypoint.pose.y = 4141446.66696
waypoint.id = '1-1'
waypoint.s = 1
waypoint = routing_request.waypoint.add()
waypoint.pose.x = 586948.740120
waypoint.pose.y = 4141171.118641
waypoint.id = '1-1'
waypoint.s = 80
request_publisher = rospy.Publisher('/apollo/routing_request',
routing_pb2.RoutingRequest,
queue_size=1)
time.sleep(2.0)
request_publisher.publish(routing_request)
def main():
"""
Main rosnode
"""
cyber.init()
node = cyber.Node("mock_routing_requester")
sequence_num = 0
routing_request = routing_pb2.RoutingRequest()
routing_request.header.timestamp_sec = time.time()
routing_request.header.module_name = 'routing_request'
routing_request.header.sequence_num = sequence_num
sequence_num = sequence_num + 1
waypoint = routing_request.waypoint.add()
waypoint.pose.x = 587696.82286
waypoint.pose.y = 4141446.66696
waypoint.id = '1-1'
waypoint.s = 1
waypoint = routing_request.waypoint.add()
waypoint.pose.x = 586948.740120
waypoint.pose.y = 4141171.118641
waypoint.id = '1-1'
waypoint.s = 80
writer = node.create_writer('/apollo/routing_request',
routing_pb2.RoutingRequest)
time.sleep(2.0)
print("routing_request", routing_request)
writer.write(routing_request)
def main():
"""
Main rosnode
"""
rospy.init_node('mock_routing_requester', anonymous=True)
sequence_num = 0
routing_request = routing_pb2.RoutingRequest()
routing_request.header.timestamp_sec = rospy.get_time()
routing_request.header.module_name = 'routing_request'
routing_request.header.sequence_num = sequence_num
sequence_num = sequence_num + 1
start_point = routing_request.start
end_point = routing_request.end
"""
start_point.id = '94_1_0'
start_point.s = 53
end_point.id = '94_1_0'
end_point.s = 50
"""
start_point.id = '1_-1'
start_point.s = 1
end_point.id = '1_-1'
end_point.s = 80
request_publisher = rospy.Publisher('/apollo/routing_request',
routing_pb2.RoutingRequest,
queue_size=1)
time.sleep(2.0)
request_publisher.publish(routing_request)