def setUp(self):
self.osm_bridge = OSMBridge()
# self.global_origin = [50.7800401, 7.18226] # uni (coordinates of node id 1307)
# self.osm_bridge = OSMBridge(global_origin=self.global_origin)
self.global_path_planner = GlobalPathPlanner(self.osm_bridge)
self.navigation_path_planner = NavigationPathPlanner(self.osm_bridge)
self.semantic_global_path = None
def __init__(self):
server_ip = rospy.get_param('~overpass_server_ip')
server_port = rospy.get_param('~overpass_server_port')
ref_lat = rospy.get_param('~ref_latitude')
ref_lon = rospy.get_param('~ref_longitude')
building = rospy.get_param('~building')
global_origin = [ref_lat, ref_lon]
rospy.loginfo("Server " + server_ip + ":" + str(server_port))
rospy.loginfo("Global origin: " + str(global_origin))
rospy.loginfo("Starting servers...")
self.osm_topological_planner_server = SimpleActionServer(
'/osm_topological_planner', OSMTopologicalPlannerAction, self._osm_topological_planner, False)
self.osm_topological_planner_server.start()
osm_bridge = OSMBridge(
server_ip=server_ip,
server_port=server_port,
global_origin=global_origin,
coordinate_system="cartesian",
debug=False)
path_planner = PathPlanner(osm_bridge)
path_planner.set_building(building)
self.osm_topological_planner_callback = OSMTopologicalPlannerCallback(
osm_bridge, path_planner)
rospy.loginfo(
"OSM topological planner server started. Listening for requests...")
def __init__(self):
server_ip = rospy.get_param('~overpass_server_ip')
server_port = rospy.get_param('~overpass_server_port')
ref_lat = rospy.get_param('~ref_latitude')
ref_lon = rospy.get_param('~ref_longitude')
map_dimension = rospy.get_param('~map_dimension')
global_origin = [ref_lat, ref_lon]
rospy.loginfo("Server " + server_ip + ":" + str(server_port))
rospy.loginfo("Global origin: " + str(global_origin))
rospy.loginfo("Starting servers...")
self.osm_bridge = OSMBridge(server_ip=server_ip,
server_port=server_port,
global_origin=global_origin,
coordinate_system="cartesian",
debug=False)
self.osm_adapter = OSMAdapter(server_ip=server_ip,
server_port=server_port,
global_origin=global_origin,
coordinate_system="cartesian",
debug=False)
self.semantic_features_finder = SemanticFeaturesFinder(self.osm_bridge)
if map_dimension == '3D':
self.get_map = Get3DMap(self.osm_bridge,
self.semantic_features_finder)
elif map_dimension == '2D':
self.get_map = Get2DMap(self.osm_bridge, self.osm_adapter,
self.semantic_features_finder)
else:
rospy.logerr("Please specify correct map dimension")
self.get_geometric_map_server = rospy.Service('/get_geometric_map',
GetGeometricMap,
self._get_geometric_map)
rospy.loginfo(
"Get geometric map server started. Listening for queries...")
self.get_semantic_map_server = rospy.Service('/get_semantic_map',
GetSemanticMap,
self._get_semantic_map)
rospy.loginfo(
"Get semantic map server started. Listening for queries...")
self.geometric_map_pub = rospy.Publisher('/geometric_map',
GeometricMap,
queue_size=10,
latch=True)
self.semantic_map_pub = rospy.Publisher('/semantic_map',
SemanticMap,
queue_size=10,
latch=True)
def __init__(self):
server_ip = rospy.get_param('~overpass_server_ip')
server_port = rospy.get_param('~overpass_server_port')
ref_lat = rospy.get_param('~ref_latitude')
ref_lon = rospy.get_param('~ref_longitude')
building = rospy.get_param('~building')
global_origin = [ref_lat, ref_lon]
print(building)
rospy.loginfo("Server " + server_ip + ":" + str(server_port))
rospy.loginfo("Global origin: " + str(global_origin))
rospy.loginfo("Starting servers...")
self.osm_bridge = OSMBridge(
server_ip=server_ip,
server_port=server_port,
global_origin=global_origin,
coordinate_system="cartesian",
debug=False)
self.osm_adapter = OSMAdapter(
server_ip=server_ip,
server_port=server_port,
debug=False)
self.occ_grid_generator = OccGridGenerator(
server_ip=server_ip,
server_port=server_port,
global_origin=global_origin,
debug=False)
self.wm_query_server = SimpleActionServer('/wm_query', WMQueryAction, self._wm_query, False)
self.wm_query_server.start()
self.wm_query_callback = WMQueryCallback(self.osm_bridge)
self.osm_query_server = SimpleActionServer('/osm_query', OSMQueryAction, self._osm_query, False)
self.osm_query_server.start()
self.osm_query_callback = OSMQueryCallback(self.osm_adapter)
self.path_planner_server = SimpleActionServer('/path_planner', PathPlannerAction, self._path_planner, False)
self.path_planner = PathPlanner(self.osm_bridge)
self.path_planner.set_building(building)
self.path_planner_server.start()
self.semantic_features_server = SimpleActionServer('/semantic_features', SemanticFeaturesAction, self._semantic_features, False)
self.semantic_features_finder = SemanticFeaturesFinder(self.osm_bridge)
self.semantic_features_server.start()
self.semantic_features_callback = SemanticFeaturesCallback(self.semantic_features_finder)
self.grid_map_generator_server = SimpleActionServer('/grid_map_generator', GridMapGeneratorAction, self._grid_map_generator, False)
self.grid_map_generator_server.start()
self.nearest_wlan_server = SimpleActionServer('/nearest_wlan', NearestWLANAction, self._nearest_wlan, False)
self.nearest_wlan_finder = NearestWLANFinder(self.osm_bridge)
self.nearest_wlan_server.start()
rospy.loginfo("Servers started. Listening for queries...")
def setUp(self):
self.osm_bridge = OSMBridge()
self.server_ip = "127.0.0.1"
self.server_port = 8000
#self.global_origin = [50.1363485, 8.6474024] # amk
self.global_origin = [50.7800401, 7.18226] # uni
#self.local_offset = [25, 25] # amk
self.local_offset = [25, 80] # brsu
self.debug = False
def setUp(self):
self.osm_bridge = OSMBridge()
self.server_ip = "127.0.0.1"
self.server_port = 8000
#self.global_origin = [50.1363485, 8.6474024] # amk
#self.global_origin = [50.7800401, 7.18226] # uni (coordinates of node id 1307)
self.global_origin = [48.6938905,
9.1902848] # logimat (coordinates of node id 57)
#self.local_offset = [25, 25] # amk
#self.local_offset = [110, 80] # brsu
self.local_offset = [10, 10] # logimat
self.floor = 0
self.debug = False
def setUp(self):
self.global_origin = [50.7800401,
7.18226] # uni (coordinates of node id 1307)
self.osm_bridge = OSMBridge(global_origin=self.global_origin)
self.wlan_finder = NearestWLANFinder(self.osm_bridge)
self.floor_name = 'BRSU_L0'
def setUp(self):
self.osm_bridge = OSMBridge()
self.osm_adapter = OSMAdapter()
def setUp(self):
self.osm_bridge = OSMBridge()
def __init__(self, lat, lon, building, floor):
self.osm_bridge = OSMBridge(
global_origin=[REF_LATITUDE, REF_LONGITUDE])
self.floor = self.osm_bridge.get_floor(building + '_L' + str(floor))
def setUp(self):
self.osm_bridge = OSMBridge(server_ip='172.16.1.101', server_port=8000, global_origin=[
50.7800401, 7.18226], coordinate_system='cartesian')
self.compute_orientation = ComputeOrientation()