def publish_stop_line_msg(self,
header,
detected=False,
at=False,
x=0.0,
y=0.0):
"""
Makes and publishes a stop line message.
Args:
header: header of a ROS message, usually copied from an incoming message
detected (`bool`): whether a vehicle has been detected
at (`bool`): whether we are closer than the desired distance
x (`float`): distance to the vehicle
y (`float`): lateral offset from the vehicle (not used, always 0)
"""
stop_line_msg = StopLineReading()
stop_line_msg.header = header
stop_line_msg.stop_line_detected = bool(detected)
stop_line_msg.at_stop_line = bool(at)
stop_line_msg.stop_line_point.x = int(x)
stop_line_msg.stop_line_point.y = int(y)
self.pub_virtual_stop_line.publish(stop_line_msg)
"""
Remove once have the road anomaly watcher node
"""
stopped_flag = BoolStamped()
stopped_flag.header = header
stopped_flag.data = bool(at)
self.pub_stopped_flag.publish(stopped_flag)
