def main():
# Init ROS node
rospy.init_node('task', anonymous=True)
# Create subscriber for position, goal, boost points, and obstacles
rospy.Subscriber('/goal', Pose, goal_callback)
rospy.Subscriber('/boost', PoseArray, boost_callback)
rospy.Subscriber("/dynamic_obstacles", PoseArray,
dynamic_obstacles_callback)
# Wait for resources to become active
goal = rospy.wait_for_message("/goal", Pose).position
boosts = rospy.wait_for_message("/boost", PoseArray).poses
obstacles = rospy.wait_for_message("/dynamic_obstacles", PoseArray).poses
# Create map service client
getMap = rospy.ServiceProxy('/GlobalMap', GlobalMap)
rospy.wait_for_service('/GlobalMap')
try:
raw_map = getMap()
except rospy.ServiceException as e:
print("Map service error: " + str(e))
return
# Get map as 2D list
world_map = util.parse_map(raw_map)
shortest_path = bfs.bfs(world_map, (0, 0), (goal.y, goal.x))
# Print resources
print("Wall layout:")
util.print_map(world_map)
print("Boost points:")
util.print_positions(boosts)
print("Obstacles at start:")
util.print_positions(obstacles)
# Initialize drone
drone = Drone()
drone.takeoff()
# -- For example code --
target_x = 0
target_y = 0
drone.set_target(target_x, target_y)
rate = rospy.Rate(30)
print('there is a test')
i = 0
targets = [[0, 0], [1, 0], [1, 7], [2, 7], [16, 7], [17, 7], [19, 7],
[19, 20]]
for t in targets:
goto(t[0], t[1], rospy, rate, drone)
def generate_user_topkeywords(train_data_path, user_read_list_path, user_topkeywords_path, topN=5):
print 'run generate_user_top%skeywords, consist of 4 steps...\n' % topN
newsid2title_map = generate_newsid2title_map(train_data_path)
print_map(newsid2title_map)
uid2newsids_map = generate_uid2newsids_map(user_read_list_path)
print_map(uid2newsids_map)
user_keywords = generate_user_keywords(uid2newsids_map, newsid2title_map)
generate_top_keywords(user_keywords, user_topkeywords_path, topN)
print '\nfinished, res saved in %s' % user_topkeywords_path
def generate_user_topkeywords(train_data_path,
user_read_list_path,
user_topkeywords_path,
topN=5):
print 'run generate_user_top%skeywords, consist of 4 steps...\n' % topN
newsid2title_map = generate_newsid2title_map(train_data_path)
print_map(newsid2title_map)
uid2newsids_map = generate_uid2newsids_map(user_read_list_path)
print_map(uid2newsids_map)
user_keywords = generate_user_keywords(uid2newsids_map, newsid2title_map)
generate_top_keywords(user_keywords, user_topkeywords_path, topN)
print '\nfinished, res saved in %s' % user_topkeywords_path
def get_user_keywords():
'''
从用户的关键词列表中获得keywords
example: 5533175 克里米亚-1,感谢-1,何华章-1,官方-1,处置-1
输出: {uid:[k1, k2, k3, k4, k5],...}
'''
print 'run get_user_keywords, input: %s' % user_topkeywords_path
lines = open(user_topkeywords_path, 'r+').readlines()
user_keywords = {}
for l in lines:
parts = l.strip().split('\t')
uid = parts[0].strip()
keywords = [r.split('-')[0] for r in parts[1].split(',')]
user_keywords[uid] = keywords
print 'finish get user_keywords, example is\n %s ' % print_map(
user_keywords)
return user_keywords
def get_user_read_list():
'''
从user_read_list文件中读入每个用户的阅读历史，两个作用:
1,从返回的结果中过滤掉这部分内容
2,用来控制xapian中对每个用户的返回值结果
输入样例: uid:N:newsid1,newsid2,
输出: {uid: [newid1, newsid2]}
'''
print 'run get_user_read_list, input: %s' % user_read_list_path
lines = open(user_read_list_path, 'r').readlines()
uid2newsids = {}
for l in lines:
parts = l.split(':')
#如果用户阅读数小于等于10，则不给他推荐
#if int(parts[1]) <= 10:
# continue
uid = parts[0].strip()
nids = parts[2].split(',')
uid2newsids[uid] = nids
print 'finish get user_read_list, example is\n %s ' % print_map(
uid2newsids)
return uid2newsids
def main():
# Init ROS node
rospy.init_node('task', anonymous=True)
# Create subscriber for position, goal, boost points, and obstacles
rospy.Subscriber('/goal', Pose, goal_callback)
rospy.Subscriber('/boost', PoseArray, boost_callback)
rospy.Subscriber("/dynamic_obstacles", PoseArray,
dynamic_obstacles_callback)
# Wait for resources to become active
goal = rospy.wait_for_message("/goal", Pose).position
boosts = rospy.wait_for_message("/boost", PoseArray).poses
obstacles = rospy.wait_for_message("/dynamic_obstacles", PoseArray).poses
# Create map service client
getMap = rospy.ServiceProxy('/GlobalMap', GlobalMap)
rospy.wait_for_service('/GlobalMap')
try:
raw_map = getMap()
except rospy.ServiceException as e:
print("Map service error: " + str(e))
return
# Get map as 2D list
world_map = util.parse_map(raw_map)
# Print resources
print("Wall layout:")
util.print_map(world_map)
print("Boost points:")
util.print_positions(boosts)
print("Obstacles at start:")
util.print_positions(obstacles)
# Initialize drone
drone = Drone()
drone.takeoff()
# -- For example code --
target_x = 0
target_y = 0
coords = create_waypoints()
i = 0
rate = rospy.Rate(30)
while not rospy.is_shutdown():
rate.sleep()
# -------------------------------
# ------Replace this example-----
# ---------with your code!-------
# -------------------------------
# Find how far we are away from target
if i == 0:
drone.set_target(0, 0)
distance_to_target = ((target_x - drone.position.x)**2 +
(target_y - drone.position.y)**2)**0.5
# Do special action if we are close
if distance_to_target < 0.5:
if i < len(coords) - 1:
i = i + 1
print("Next index is ", i)
else:
drone.takeoff(height=0)
target_x = coords[i][1]
target_y = coords[i][0]
# Move to random point
drone.set_target(target_x, target_y)
else:
print("distance to target:", distance_to_target)
def main():
# Init ROS node
rospy.init_node('task', anonymous=True)
# Create subscriber for position, goal, boost points, and obstacles
rospy.Subscriber('/goal', Pose, goal_callback)
rospy.Subscriber('/boost', PoseArray, boost_callback)
rospy.Subscriber("/dynamic_obstacles", PoseArray,
dynamic_obstacles_callback)
# Wait for resources to become active
goal = rospy.wait_for_message("/goal", Pose).position
boosts = rospy.wait_for_message("/boost", PoseArray).poses
obstacles = rospy.wait_for_message("/dynamic_obstacles", PoseArray).poses
print('Goal is at {}'.format(goal))
# Create map service client
getMap = rospy.ServiceProxy('/GlobalMap', GlobalMap)
rospy.wait_for_service('/GlobalMap')
try:
raw_map = getMap()
except rospy.ServiceException as e:
print("Map service error: " + str(e))
return
# Get map as 2D list
world_map = util.parse_map(raw_map)
with open('static_map_gen.txt') as f:
f.writelines('\t'.join(str(j) for j in i) + '\n' for i in world_map)
# Print resources
print("Wall layout:")
util.print_map(world_map)
print("Boost points:")
util.print_positions(boosts)
print("Obstacles at start:")
util.print_positions(obstacles)
path = make_abs_path(
compress_path(make_rel_path(find_path(world_map, 0, 0, goal.x,
goal.y))))
# Initialize drone
drone = Drone()
drone.activate()
drone.takeoff()
(target_y, target_x) = (0, 0)
drone.set_target(target_x, target_y)
rate = rospy.Rate(30)
pathidx = 0
while not rospy.is_shutdown():
rate.sleep()
distance_to_target = ((target_x - drone.position.x)**2 +
(target_y - drone.position.y)**2)**0.5
# Do special action if we are close
if distance_to_target < 0.5:
# Print current distance to goal. Note that we
# wont reach the goal, since we just move randomly
distance_to_goal = ((drone.position.x - goal.x)**2 +
(drone.position.y - goal.y)**2)**0.5
print("Distance to goal is now", distance_to_goal)
# Get next target
(target_y, target_x) = path[path_idx]
print("New target", target_x, target_y)
# Move to target
drone.set_target(target_x, target_y)
path_idx = path_idx + 1
if (path_idx >= len(path)):
print("Can't happen!")
pass
else:
print("distance to target:", distance_to_target)
def main():
# Init ROS node
rospy.init_node('task', anonymous=True)
# Create subscriber for position, goal, boost points, and obstacles
rospy.Subscriber('/goal', Pose, goal_callback)
rospy.Subscriber('/boost', PoseArray, boost_callback)
rospy.Subscriber("/dynamic_obstacles", PoseArray, dynamic_obstacles_callback)
# Wait for resources to become active
goal = rospy.wait_for_message("/goal", Pose).position
print('Goal is at {}'.format(goal))
boosts = rospy.wait_for_message("/boost", PoseArray).poses
obstacles = rospy.wait_for_message("/dynamic_obstacles", PoseArray).poses
# Create map service client
getMap = rospy.ServiceProxy('/GlobalMap', GlobalMap)
rospy.wait_for_service('/GlobalMap')
try:
raw_map = getMap()
except rospy.ServiceException as e:
print("Map service error: " + str(e))
return
# Get map as 2D list
world_map = util.parse_map(raw_map)
with open('dynnamic_map_gen.txt') as f:
f.writelines('\t'.join(str(j) for j in i) + '\n' for i in world_map)
# Print resources
print("Wall layout:")
util.print_map(world_map)
print("Boost points:")
util.print_positions(boosts)
print("Obstacles at start:")
util.print_positions(obstacles)
# Initialize drone
drone = Drone()
drone.activate()
drone.takeoff()
# -- For example code --
target_x = 0
target_y = 0
rate = rospy.Rate(30)
while not rospy.is_shutdown():
rate.sleep()
# -------------------------------
# ------Replace this example-----
# ---------with your code!-------
# -------------------------------
# Find how far we are away from target
distance_to_target = ((target_x - drone.position.x) ** 2 +
(target_y - drone.position.y) ** 2) ** 0.5
# Do special action if we are close
if distance_to_target < 0.5:
# Print current distance to goal. Note that we
# wont reach the goal, since we just move randomly
distance_to_goal = ((drone.position.x - goal.x) ** 2 +
(drone.position.y - goal.y) ** 2) ** 0.5
print("Distance to goal is now", distance_to_goal)
# Generate some random point and rotation
target_x = random.randint(-3, 3)
target_y = random.randint(-3, 3)
# Move to random point
drone.set_target(target_x, target_y)
else:
print("distance to target:", distance_to_target)