def setup_shared_data():
''' Must be executed AFTER rospy.init_node so that get get_param calls properly work '''
shared_data = Settings()
shared_data.next_state = state.Obey
shared_data.sim_mode = rospy.get_param('sim_mode', False)
shared_data.self_color = rospy.get_param('~name', 'turtleX')
shared_data.slaves[shared_data.self_color] = SlaveData()
if shared_data.sim_mode:
shared_data.spawn_position = rospy.get_param('~spawn_position', [5, 7])
return shared_data
def setup():
shared_data = Settings()
shared_data.next_state = state.RemoteControlled
shared_data.sim_mode = rospy.get_param('sim_mode', False)
shared_data.self_color = 'turtle1'
slaves = rospy.get_param('master/slaves', [])
shared_data.nb_slaves = len(slaves)
shared_data.visible_slaves = len(slaves) # To disable switch to search mode.
# TODO: set to 0 when search mode works, it will find the slaves itself
for slave_name in slaves:
shared_data.slaves[slave_name] = SlaveData()
return shared_data
def setup():
shared_data = Settings()
shared_data.next_state = state.RemoteControlled
shared_data.sim_mode = rospy.get_param("sim_mode", False)
shared_data.self_color = "turtle1"
slaves = rospy.get_param("master/slaves", [])
shared_data.nb_slaves = len(slaves)
shared_data.visible_slaves = len(slaves) # To disable switch to search mode.
# TODO: set to 0 when search mode works, it will find the slaves itself
for slave_name in slaves:
shared_data.slaves[slave_name] = SlaveData()
return shared_data