def __init__(self):
"""Initialize agent instance, create subscribers and publishers."""
# Create a publisher for commands
self.pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
# Initialize class variables
self.agent = Boid()
# Create subscribers
subs = [
mf.Subscriber("nearest", OdometryArray),
mf.Subscriber("avoid", PoseArray)
]
self.ts = mf.TimeSynchronizer(subs, 10)
self.ts.registerCallback(self.callback)
rospy.Subscriber('/param_update',
Empty,
self.param_callback,
queue_size=1)
# Main while loop.
rate = rospy.Rate(10)
while not rospy.is_shutdown():
rate.sleep()
def __init__(self):
"""Initialize agent instance, create subscribers and publishers."""
# Initialize class variables.
init_vel_x = rospy.get_param("~init_vel_x", 0)
init_vel_y = rospy.get_param("~init_vel_y", 0)
frequency = rospy.get_param("/ctrl_loop_freq")
wait_count = int(rospy.get_param("/wait_time") * frequency)
start_count = int(rospy.get_param("/start_time") * frequency)
self.run_type = rospy.get_param("/run_type")
self.agent = Boid(init_vel_x, init_vel_y, wait_count, start_count, frequency)
self.markers = MarkerSet()
self.params_set = False
# Create a publisher for commands.
self.cmd_vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=frequency)
self.markers_pub = rospy.Publisher('markers', MarkerArray, queue_size=frequency)
# Create subscribers.
rospy.Subscriber('/dyn_reconf2/parameter_updates', Config, self.param_callback, queue_size=1)
rospy.Subscriber('/virtual_robot2/odom', Odometry, self.virtual_robot_callback, queue_size=10)
subs = [mf.Subscriber("nearest", OdometryArray), mf.Subscriber("avoid", PoseArray)]
self.ts = mf.TimeSynchronizer(subs, 10)
self.ts.registerCallback(self.callback)
# Keep program from exiting
rospy.spin()
def setup():
size(600, 600)
noStroke()
global boid
boid = Boid(width / 2, height / 2, 10, 1)
from p5 import *
import numpy as np
from boids import Boid
width = 500
height = 500
flock = [Boid(*np.random.rand(2) * width, width, height) for _ in range(50)]
def setup():
#this happens just once
size(width, height) #instead of create_canvas
def draw():
#this happens every time
background(30, 30, 47)
for boid in flock:
boid.show()
boid.apply_behaviour(flock)
boid.update()
run()
def __init__(self, n, width, height):
self.boids = [Boid(np.array([random.random()*width, random.random()*height]),
width, height) for i in range(n)]
self.width = width
self.height = height
rule1W = 100
rule2W = 100
rule3W = 100
desired_seperation = 20
#desired_position = np.array([100,600]) #You can give static desired positions like this
desired_position = np.zeros(2, dtype=np.int32)
step_size = 10
# Create flocks
N = 40 #Total number of boids
flock = [None for _ in range(N)]
for i in range(N):
initial_position = np.zeros(2, dtype=np.int32)
initial_position[0] = np.random.randint(0, width - 10) # x coordinate
initial_position[1] = np.random.randint(0, height - 10) # y coordinate
flock[i] = Boid(width,height,initial_position,horizon,max_speed,rule1W,rule2W,rule3W, \
desired_seperation)
def setup():
global bg
size(width, height) #Background image is width x height
bg = load_image("images/UW_background.png")
def draw(): #This is the main loop for p5 library
global flock
background(bg)
for boid in flock:
boid.tend_to_place(desired_position, step_size)
boid.main_boid(flock)