def clean_env(self):
     utils.kill_process('slam_gmapping')
     ros_utils.kill_master()
 def clean_env(self):
     utils.kill_process('laser_scan_matcher_node')
     ros_utils.kill_master()
 def clean_env(self):
     utils.kill_process('amcl')
     ros_utils.kill_master()
        is_regex=True)

    # Launch AMCL
    ros_utils.launch(package='localization', launch_file='amcl.launch')

    # Wait for AMCL to load
    ros_utils.wait_for_rosout_message(
        node_name='amcl',
        desired_message='Done initializing likelihood field model.')

    # Launch ICP
    ros_utils.launch(package='localization', launch_file='scan_matcher.launch')

    # Start recording output bag
    ros_utils.start_recording_bag(
        r'/home/omer/Downloads/video_results.bag',
        ['/amcl_pose', '/particlecloud', '/scanmatcher_pose'])

    # Start video player and wait
    ros_utils.play_video_to_topic(
        r'/home/omer/orchards_ws/data/lavi_apr_18/raw/dji/DJI_0167.MP4',
        topic='/uav/camera/image_raw',
        frame_id='uav/camera_link')
    time.sleep(100000)

    # Stop recording output bag
    ros_utils.stop_recording_bags()

    ros_utils.kill_rviz()
    ros_utils.kill_master()
 def clean_env(self):
     utils.kill_process('laser_scan_matcher')  # TODO: verify!!!
     ros_utils.kill_master()
Exemplo n.º 6
0
 def clean_env(self):
     ros_utils.kill_master()