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Rework slam streamer for easier testing

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Piv
2020-03-19 23:35:23 +10:30
parent b16b0900cd
commit 872073352b
3 changed files with 13 additions and 3 deletions
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6
slam/slam_streamer.py
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@@ -1,10 +1,10 @@
import zmq
from breezyslam.algorithms import RMHC_SLAM
from breezyslam.sensors import RPLidarA1 as LaserModel
from rplidar import RPLidar as Lidar
from slam.SlamController_pb2 import SlamScan, SlamLocation
import messaging.message_factory as mf
import messaging.messages as messages
import tracking.devices.factory as lidar_fact
# Left here as was used in the example, configure as necessary.
@@ -40,8 +40,8 @@ class SlamStreamer:
# Adapted from BreezySLAM rpslam example.
# Connect to Lidar unit. For some reason it likes to be done twice, otherwise it errors out...
lidar = Lidar(self._lidar_connection)
lidar = Lidar(self._lidar_connection)
lidar = lidar_fact.get_lidar(self._lidar_connection)
lidar = lidar_fact.get_lidar(self._lidar_connection)
print('Initialised lidar')