def __init__(self): rospy.init_node('tl_publisher') self.traffic_light_pubs = rospy.Publisher('/vehicle/traffic_lights', TrafficLightArray, queue_size=1) light = self.create_light(20.991, 22.837, 1.524, 0.08, 3) lights = TrafficLightArray() lights.header = light.header lights.lights = [light] self.lights = lights
def publish_traffic(self, data): x, y, z = data['light_pos_x'], data['light_pos_y'], data['light_pos_z'], yaw = [math.atan2(dy, dx) for dx, dy in zip(data['light_pos_dx'], data['light_pos_dy'])] status = data['light_state'] lights = TrafficLightArray() lights.header = Header() lights.header.stamp = rospy.Time.now() lights.header.frame_id = '/world' lights.lights = [self.create_light(*e) for e in zip(x, y, z, yaw, status)] self.publishers['trafficlights'].publish(lights)
def __init__(self): rospy.init_node('tl_publisher') self.traffic_light_pubs = rospy.Publisher('/vehicle/traffic_lights', TrafficLightArray, queue_size=1) light = self.create_light(20.991, 22.837, 1.524, 0.08, 3) lights = TrafficLightArray() lights.header = light.header lights.lights = [light] self.lights = lights self.loop()
def __init__(self): rospy.init_node('tl_publisher') # Publisher self.traffic_light_pubs = rospy.Publisher('/vehicle/traffic_lights', TrafficLightArray, queue_size=1) # Initialize lights = TrafficLightArray() # Create "Traffic Light Array" msg light = self.create_light(20.991, 22.837, 1.524, 0.08, 3) # Create "Traffic Light" msg lights.header = light.header lights.lights = [light] self.lights = lights # LOOP self.loop()
def __init__(self): rospy.init_node('tl_publisher') self.traffic_light_pubs = rospy.Publisher('/vehicle/traffic_lights', TrafficLightArray, queue_size=1) light = self.create_light(20.991, 22.837, 1.524, 0.08, 3) lights = TrafficLightArray() lights.header = light.header lights.lights = [light] self.lights = lights rate = rospy.Rate(50) while not rospy.is_shutdown(): self.traffic_light_pubs.publish(self.lights) rate.sleep()