def __init__(self, **params): import rospy contracts.disable_all() # XXX self.viz_level = params.get('viz_level', VizLevel.Everything) if self.viz_level > VizLevel.Nothing: from . import Marker, Image self.publisher = rospy.Publisher('~markers', Marker) self.pub_sensels_image = rospy.Publisher('~sensels_image', Image) self.pub_commands_image = rospy.Publisher('~commands_image', Image) self.first_time = True if self.viz_level >= VizLevel.State: from . import String self.pub_state = rospy.Publisher('~state', String) BOVehicleSimulation.__init__(self, **params)