| |
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| | from std_srvs.srv import Empty |
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| | |
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| | |
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| | |
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| | class MultiMapServer(): |
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| | class MultiMapChanger(): |
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| | |
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| | def __init__(self): |
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| | yaml = ruamel.yaml.YAML() |
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| | ## Read multimaps directory |
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| |
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| | self.change_point_num = np.array(self.change_point_num, dtype=np.uint16) |
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| | ## Subscribe current waypoint number |
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| | self.waypoint_num = 0 |
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| | self.wp_num_sub = rospy.Subscriber("/waypoint_num", UInt16, self.waypoint_num_callback) |
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| | ## Service clients |
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| | self.change_map = rospy.ServiceProxy("/change_map", LoadMap) |
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| | self.amcl_update = rospy.ServiceProxy("/request_nomotion_update", Empty) |
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| | return |
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| | |
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| |
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| | |
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| | |
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| | if __name__ == '__main__': |
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| | rospy.init_node("map_changer") |
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| | mms = MultiMapServer() |
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| | mmc = MultiMapChanger() |
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| | rospy.spin() |
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| | |
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| | |
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| | |
