def __init__(self, map_name):
self.node_name = rospy.get_name()
# Map
self.map = dw.load_map(map_name)
self.skeleton_graph = dw.get_skeleton_graph(self.map['tilemap'])
# Dispatcher
self.dispatcher = dispatcher.Dispatcher(self.skeleton_graph)
self.state = {'seq': 0, 'duckies': {}, 'requests': []}
# Subscribers
self.sub_paths = rospy.Subscriber('/flock_simulator/state',
FlockState,
self.cbState,
queue_size=1)
# Publishers
self.pub_commands = rospy.Publisher('/flock_simulator/commands',
FlockCommand,
queue_size=1)
# Timer
self.sim_frequency = 30.0 # Frequency of simulation in Hz
self.request_timer = rospy.Timer(
rospy.Duration.from_sec(1.0 / self.sim_frequency), self.cbTimer)
self.isUpdating = False
def __init__(self, map_name):
self.map = dw.load_map(map_name)
self.tile_size = self.map.tile_size
self.skeleton_graph = dw.get_skeleton_graph(self.map['tilemap'])
self.graph = self.skeleton_graph.G
self.edges = list(self.graph.edges(data=True))
self.nodes = list(self.graph.nodes(data=True))
self.lanes = self.skeleton_graph.root2.children
def get_lane_at_point_test2():
m: dw.DuckietownMap = dw.load_map("robotarium2")
sk2 = dw.get_skeleton_graph(m)
G0 = sk2.G0
c = list(connected_components(G0.to_undirected()))
assert len(c) == 6
p = list(G0.nodes)[0]
mp: MeetingPoint = G0.nodes[p]["meeting_point"]
print(debug_print(mp))
def get_map_components(m: DuckietownMap) -> Dict[str, ComponentFootprint]:
from duckietown_world.world_duckietown.segmentify import MeetingPoint
sk2 = get_skeleton_graph(m)
G0 = sk2.G0
c = list(connected_components(G0.to_undirected()))
res = {}
for i, nodes in enumerate(c):
s = "comp%d" % i
tiles: Set[Tuple[int, int]] = set()
for n in nodes:
mp: MeetingPoint = G0.nodes[n]["meeting_point"]
tiles.add(mp.from_tile)
tiles.add(mp.into_tile)
res[s] = ComponentFootprint(tiles)
return res