def __init__(self):
# Queue used to maintain image consumption synchronicity
self.image_buffer_left = utils.DoubleBuffer()
self.image_buffer_right = utils.DoubleBuffer()
# Set up the subscribers
rospy.Subscriber('/camera/zed/rgb/image_rect_color', sensor_image,
self._left_camera_cb_)
rospy.Subscriber('/camera/zed_right/rgb/image_rect_color_right',
sensor_image, self._right_camera_cb_)
self.sensor_type = Input.STEREO.value
def __init__(self, racecar_name):
self.image_buffer = utils.DoubleBuffer()
rospy.Subscriber(
'/{}/camera/zed/rgb/image_rect_color'.format(racecar_name),
sensor_image, self._camera_cb_)
self.raw_data = None
self.sensor_type = Input.CAMERA.value
def __init__(self, racecar_name):
# Queue used to maintain image consumption synchronicity
self.image_buffer_left = utils.DoubleBuffer()
self.image_buffer_right = utils.DoubleBuffer()
# Set up the subscribers
rospy.Subscriber(
"/{}/camera/zed/rgb/image_rect_color".format(racecar_name),
sensor_image,
self._left_camera_cb_,
)
rospy.Subscriber(
"/{}/camera/zed_right/rgb/image_rect_color_right".format(
racecar_name),
sensor_image,
self._right_camera_cb_,
)
self.sensor_type = Input.STEREO.value
def __init__(self, racecar_name, timeout=120.0):
"""DualCamera sensor constructor
Args:
racecar_name (str): racecar name
timeout (float): time limit for buffer get method until error out.
The reason why using 120.0 as default value for sensor is
because virtual event dynamic spawning for sensor can take up to 60.0 seconds to be alive.
"""
# Queue used to maintain image consumption synchronicity
self.image_buffer_left = utils.DoubleBuffer()
self.image_buffer_right = utils.DoubleBuffer()
# Set up the subscribers
rospy.Subscriber('/{}/camera/zed/rgb/image_rect_color'.format(racecar_name),
sensor_image,
self._left_camera_cb_)
rospy.Subscriber('/{}/camera/zed_right/rgb/image_rect_color_right'.format(racecar_name),
sensor_image,
self._right_camera_cb_)
self.sensor_type = Input.STEREO.value
self.timeout = timeout
def __init__(self, racecar_name, timeout=120.0):
"""SectorLidar sensor constructor
Args:
racecar_name (str): racecar name
timeout (float): time limit for buffer get method until error out.
The reason why using 120.0 as default value for sensor is
because virtual event dynamic spawning for sensor can take up to 60.0 seconds to be alive.
"""
self.data_buffer = utils.DoubleBuffer(clear_data_on_get=False)
rospy.Subscriber('/{}/scan'.format(racecar_name), LaserScan, self._scan_cb)
self.sensor_type = Input.SECTOR_LIDAR.value
self.timeout = timeout
def __init__(self, racecar_name, timeout=120.0):
"""Camera sensor constructor
Args:
racecar_name (str): racecar name
timeout (float): time limit for buffer get method until error out.
The reason why using 120.0 as default value for sensor is
because virtual event dynamic spawning for sensor can take up to 60.0 seconds to be alive.
"""
self.image_buffer = utils.DoubleBuffer()
rospy.Subscriber('/{}/camera/zed/rgb/image_rect_color'.format(racecar_name), sensor_image, self._camera_cb_)
self.raw_data = None
self.sensor_type = Input.CAMERA.value
self.timeout = timeout
def __init__(self, racecar_name):
self.data_buffer = utils.DoubleBuffer()
rospy.Subscriber('/{}/scan'.format(racecar_name), LaserScan,
self._scan_cb)
self.sensor_type = Input.SECTOR_LIDAR.value
def __init__(self, racecar_name):
self.data_buffer = utils.DoubleBuffer(clear_data_on_get=False)
rospy.Subscriber("/{}/scan".format(racecar_name), LaserScan,
self._scan_cb)
self.sensor_type = Input.LIDAR.value
def __init__(self):
self.image_buffer = utils.DoubleBuffer()
rospy.Subscriber('/camera/zed/rgb/image_rect_color', sensor_image,
self._camera_cb_)
self.sensor_type = Input.OBSERVATION.value
self.raw_data = None
def __init__(self):
self.data_buffer = utils.DoubleBuffer()
rospy.Subscriber('/scan', LaserScan, self._scan_cb)
self.sensor_type = Input.LIDAR.value
