From 04d7cfc8377b2f697966c7d3cc1d96787ca6613d Mon Sep 17 00:00:00 2001 From: Yifei Jiang Date: Tue, 31 Oct 2017 17:33:53 -0700 Subject: [PATCH] tool: minor change to mobileye viewer and planning lite (#966) --- modules/tools/mobileye_viewer/plot_mobileye.py | 3 ++- modules/tools/planning_lite/planning_lite.py | 6 ++++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/modules/tools/mobileye_viewer/plot_mobileye.py b/modules/tools/mobileye_viewer/plot_mobileye.py index 1c6cb5c3aa..f08a3d9bae 100644 --- a/modules/tools/mobileye_viewer/plot_mobileye.py +++ b/modules/tools/mobileye_viewer/plot_mobileye.py @@ -31,6 +31,7 @@ from subplot_s_theta import SubplotSTheta from subplot_s_time import SubplotSTime from modules.localization.proto import localization_pb2 +PLANNING_TOPIC = '/apollo/planning_lite' mobileye = MobileyeData() localization = LocalizationData() planning = PlanningData() @@ -60,7 +61,7 @@ def add_listener(): rospy.Subscriber('/apollo/sensor/mobileye', mobileye_pb2.Mobileye, mobileye_callback) - rospy.Subscriber('/apollo/planning_lite', + rospy.Subscriber(PLANNING_TOPIC, planning_pb2.ADCTrajectory, planning_callback) rospy.Subscriber('/apollo/localization/pose', diff --git a/modules/tools/planning_lite/planning_lite.py b/modules/tools/planning_lite/planning_lite.py index 98c080e105..3113f9a755 100644 --- a/modules/tools/planning_lite/planning_lite.py +++ b/modules/tools/planning_lite/planning_lite.py @@ -29,6 +29,8 @@ from modules.localization.proto import localization_pb2 from modules.canbus.proto import chassis_pb2 planning_pub = None +PUB_NODE_NAME = "planning_lite" +PUB_TOPIC = "/apollo/" + PUB_NODE_NAME f = open("benchmark.txt","w") SPEED = 0 #m/s CRUISE_SPEED = 10 #m/s @@ -138,7 +140,7 @@ def mobileye_callback(mobileye_pb): def add_listener(): global planning_pub - rospy.init_node('planning_lite', anonymous=True) + rospy.init_node(PUB_NODE_NAME, anonymous=True) rospy.Subscriber('/apollo/sensor/mobileye', mobileye_pb2.Mobileye, mobileye_callback) @@ -150,7 +152,7 @@ def add_listener(): chassis_callback) planning_pub = rospy.Publisher( - '/apollo/planning_lite', planning_pb2.ADCTrajectory, queue_size=1) + PUB_TOPIC, planning_pb2.ADCTrajectory, queue_size=1) def update(frame_number): -- GitLab