def __init__(self):
super().__init__('collect',
allow_undeclared_parameters=True,
automatically_declare_parameters_from_overrides=True)
self.get_logger().info(
f'[{self.get_name()}] Initializing the collector node...')
mkdir_p(CSV_PATH)
mkdir_p(IMG_PATH)
sub_centre_camera = message_filters.Subscriber(
self, CompressedImage,
'/simulator/sensor/camera/center/image/compressed')
sub_depth_centre = message_filters.Subscriber(
self, CompressedImage,
'/simulator/sensor/depth_camera/center/image/compressed')
#sub_seg_centre = message_filters.Subscriber(self, CompressedImage, '/simulator/sensor/segmentation_camera')
#sub_left90_camera = message_filters.Subscriber(self, CompressedImage, '/simulator/sensor/camera/left90/image/compressed')
#sub_depth_left = message_filters.Subscriber(self, CompressedImage, '/simulator/sensor/depth_camera/left90/image/compressed')
#sub_right90_camera = message_filters.Subscriber(self, CompressedImage, '/simulator/sensor/camera/right90/image/compressed')
#sub_depth_right = message_filters.Subscriber(self, CompressedImage, '/simulator/sensor/depth_camera/right90/image/compressed')
#sub_radar = message_filters.Subscriber(self, DetectedRadarObjectArray, '/simulator/sensor/radar')
sub_control = message_filters.Subscriber(self, TwistStamped,
'/simulator/control/command')
ts = message_filters.ApproximateTimeSynchronizer(
[sub_centre_camera, sub_depth_centre, sub_control], 1000, 0.1)
ts.registerCallback(self.callback)
self.get_logger().info(
f'[{self.get_name()}] Up and running the collector node...')
def __init__(self):
super().__init__('collect',
allow_undeclared_parameters=True,
automatically_declare_parameters_from_overrides=True)
self.get_logger().info('[{}] Initializing...'.format(self.get_name()))
mkdir_p(CSV_PATH)
mkdir_p(IMG_PATH)
sub_center_camera = message_filters.Subscriber(
self, CompressedImage,
'/simulator/sensor/camera/center/compressed')
sub_left_camera = message_filters.Subscriber(
self, CompressedImage, '/simulator/sensor/camera/left/compressed')
sub_right_camera = message_filters.Subscriber(
self, CompressedImage, '/simulator/sensor/camera/right/compressed')
sub_control = message_filters.Subscriber(self, TwistStamped,
'/simulator/control/command')
ts = message_filters.ApproximateTimeSynchronizer([
sub_center_camera, sub_left_camera, sub_right_camera, sub_control
], 1, 0.1)
ts.registerCallback(self.callback)
self.get_logger().info('[{}] Up and running...'.format(
self.get_name()))
def __init__(self):
super().__init__('collect',
allow_undeclared_parameters=True,
automatically_declare_parameters_from_overrides=True)
self.get_logger().info('[{}] Initializing...'.format(self.get_name()))
mkdir_p(IMG_PATH)
sub_center_camera = message_filters.Subscriber(
self, CompressedImage, '/lgsvl/front_6mm_image_compressed')
segment_camera = message_filters.Subscriber(
self, CompressedImage, '/lgsvl/segmentation_camera')
ts = message_filters.ApproximateTimeSynchronizer(
[sub_center_camera, segment_camera], 1, 0.1)
ts.registerCallback(self.callback)
self.get_logger().info('[{}] New Up and running...'.format(
self.get_name()))