def get_and_save_data():
for scene, angle in zip(["0", "l90", "r90"], [(90, 180), (0, 90),
(180, 270)]):
environment = VrepEnvironment(settings.SCENES + '/room_calib_' +
scene + '.ttt')
# environment.start_vrep()
environment.connect()
environment.load_scene(settings.SCENES + '/room_calib_' + scene +
'.ttt')
environment.start_simulation()
agent = Pioneer(environment)
time.sleep(1)
sample = agent.read_lidars()
ranges = np.array(sample)[angle[0]:angle[1]]
for _ in range(0, 29):
sample = agent.read_lidars()
ranges += np.array(sample)[angle[0]:angle[1]]
ranges = ranges / 10
np.savetxt("ranges_" + scene + ".txt", ranges)
environment.stop_simulation()
environment.disconnect()
del environment
##########
##########
if __name__ == "__main__":
plt.ion()
# Initialize and start the environment
environment = VrepEnvironment(settings.SCENES + '/room_static.ttt') # Open the file containing our scene (robot and its environment)
environment.connect() # Connect python to the simulator's remote API
agent = Pioneer(environment)
display = Display(agent, False)
print('\nDemonstration of Simultaneous Localization and Mapping using CoppeliaSim robot simulation software. \nPress "CTRL+C" to exit.\n')
start = time.time()
step = 0
done = False
environment.start_simulation()
time.sleep(1)
try:
while step < settings.simulation_steps and not done:
display.update() # Update the SLAM display
loop(agent) # Control loop
step += 1
except KeyboardInterrupt:
print('\n\nInterrupted! Time: {}s'.format(time.time()-start))
display.close()
environment.stop_simulation()
environment.disconnect()