Using custom yaml loader for topological map file #186
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marc-hanheide
requested changes
Jul 15, 2024
| @@ -94,8 +94,8 @@ def __init__(self, name='test_node'): | |||
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| def initialize(self): | |||
| self.topmap_sub = self.create_subscription(String, '/topological_map_2', self.topmap_sub_callback, 1) | |||
| self.closest_node_sub = self.create_subscription(String, 'closest_node', self.closest_node_callback, 1) | |||
| self.current_node_sub = self.create_subscription(String, 'current_node', self.current_node_callback, 1) | |||
| self.closest_node_sub = self.create_subscription(String, '/closest_node', self.closest_node_callback, 1) | |||
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see below, no absolute topic URI please change
There was a problem hiding this comment.
Changed it back to relative topic URIs.
| @@ -151,7 +168,7 @@ def init_map(self, name="new_map", metric_map="map_2d", pointset="new_map", tran | |||
| self.loaded = False | |||
| self.load = load | |||
| if self.load: | |||
| self.load_map(self.filename) | |||
| self.load_map(self.filename) | |||
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| return mapping | ||
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ibrahimhroob
approved these changes
Jul 16, 2024
marc-hanheide
approved these changes
Jul 17, 2024
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What type of PR is this? (check all applicable)
Description
This PR fixes #185 with custom yaml loader.
Additionally, the same custom loader class can be extended to check for missing fields or check node attributes before loading the map instead. See here