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More robust initialization against a delay of info #7

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More robust initialization against a delay of info #7

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19 changes: 15 additions & 4 deletions path_planning_ws/src/maze_bot/maze_bot/maze_solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -71,17 +71,22 @@ def __init__(self):
self.vel_subscriber = self.create_subscription(Odometry,'/odom',self.get_bot_speed,10)
self.bot_speed = 0
self.bot_turning = 0

self.sat_view = np.zeros((100,100))
self.have_bot_view = False
self.bot_view= None
self.have_sat_view = False
self.sat_view = None
#self.sat_view = np.zeros((100,100))

self.debugging = Debugging()

def get_video_feed_cb(self,data):
frame = self.bridge.imgmsg_to_cv2(data,'bgr8')
self.sat_view = frame
self.have_sat_view = True

def process_data_bot(self, data):
self.bot_view = self.bridge.imgmsg_to_cv2(data,'bgr8') # performing conversion
self.bot_view = self.bridge.imgmsg_to_cv2(data,'bgr8') # performing conversion
self.have_bot_view = True

def get_bot_speed(self,data):
# We get the bot_turn_angle in simulation Using same method as Gotogoal.py
Expand Down Expand Up @@ -212,6 +217,12 @@ def maze_solving(self):

self.debugging.setDebugParameters()

#check if sat_view and bot_view are received
if self.have_sat_view and self.have_bot_view:
print("Time to move!")
else:
print("waiting for views from the camera...")
return
# Creating frame to display current robot state to user
frame_disp = self.sat_view.copy()

Expand Down Expand Up @@ -274,4 +285,4 @@ def main(args =None):


if __name__ == '__main__':
main()
main()