def set_commands(self, commands, commands_source):
BOVehicleSimulation.set_commands(self, commands, commands_source)
if self.viz_level >= VizLevel.Sensels:
self.publish_ros_commands(commands)
if self.viz_level >= VizLevel.Geometry:
self.publish_ros_markers()
if self.vehicle_collided: # FIXME:
import rospy
rospy.loginfo('Restarting new episode due to collision.')
self.new_episode()
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)
def get_observations(self):
timestamp, observations = BOVehicleSimulation.get_observations(self)
if self.viz_level >= VizLevel.Sensels:
self.publish_ros_sensels(observations)
if self.viz_level >= VizLevel.State:
from . import String
y = self.to_yaml()
s = yaml.dump(y)
self.pub_state.publish(String(s))
return timestamp, observations