(self, msg: Bool)
| 318 | self.failed_relocalizations = [] |
| 319 | |
| 320 | self.T_from_map_to_odom = None |
| 321 | |
| 322 | self.pois = {} |
| 323 | self.poi_index = -1 |
| 324 | self._nav_completed = False |
| 325 | self._leg_initial_length: float | None = None |
| 326 | self._leg_start_time: float | None = None |
| 327 | self._speed_estimate: float | None = None |
| 328 | self.cached_nav_path_in_map = None |
| 329 | self.cached_nav_path_poi_index = -1 |
| 330 | |
| 331 | def pois_callback(self, msg: String): |
| 332 | self.get_logger().info("Received POIs from planner: " + msg.data) |
| 333 | try: |
| 334 | self.pois = json.loads(msg.data) |
| 335 | |
| 336 | pois_dict = {} |
| 337 | keys = sorted([int (key) for key in self.pois.keys()]) |
| 338 | for index, key in enumerate(keys): |
| 339 | pois_dict[index] = np.array(self.pois[str(key)]["position"]) |
| 340 | self.pois = pois_dict |
| 341 |
nothing calls this directly
no test coverage detected