def _create_resource(self, uri):
# Create a resource to request
resource = scheduler_msgs.Resource()
resource.id = unique_id.toMsg(unique_id.fromRandom())
resource.rapp = self.resource_type
resource.uri = uri
resource.remappings = []
map_remapped, waypoints_remapped = self._get_remapped_topic(
rocon_uri.parse(resource.uri).name.string)
resource.remappings = [
rocon_std_msgs.Remapping(self._default_map_topic, map_remapped),
rocon_std_msgs.Remapping(self._default_waypoints_topic,
waypoints_remapped)
]
return resource
def _create_resource(self, uri):
# Create a resource to request
resource = scheduler_msgs.Resource()
resource.id = unique_id.toMsg(unique_id.fromRandom())
resource.rapp = self.resource_type
resource.uri = uri
cmd_vel_remapped, compressed_image_topic_remapped = self._get_remapped_topic(
rocon_uri.parse(resource.uri).name.string)
resource.remappings = [
rocon_std_msgs.Remapping(self._default_cmd_vel_topic,
cmd_vel_remapped),
rocon_std_msgs.Remapping(self._default_compressed_image_topic,
compressed_image_topic_remapped)
]
return resource
def _node_to_resource(node, linkgraph):
'''
Convert linkgraph information for a particular node to a scheduler_msgs.Resource type.
@param node : a node from the linkgraph
@type concert_msgs.LinkNode
@param linkgraph : the entire linkgraph (used to lookup the node's edges)
@type concert_msgs.LinkGraph
@return resource
@rtype scheduler_msgs.Resource
'''
resource = scheduler_msgs.Resource()
resource.rapp = rocon_uri.parse(node.resource).rapp
resource.uri = node.resource
resource.remappings = [rocon_std_msgs.Remapping(e.remap_from, e.remap_to) for e in linkgraph.edges if e.start == node.id or e.finish == node.id]
resource.parameters = [rocon_std_msgs.KeyValue(key,str(val)) for key, val in node.parameters.items()]
return resource