data/mir_planning/mir_planning_visualisation/ros/scripts/visualiser

#!/usr/bin/env python

from __future__ import print_function

import rospy
from mir_planning_visualisation.kb_visualiser import KnowledgeBaseVisualiser
from mir_planning_visualisation.plan_visualiser import PlanVisualiser
from visualization_msgs.msg import Marker, MarkerArray


class Visualiser(object):

    """
    Visualise Knowledge base and plan with MarkerArray msg
    """

    def __init__(self):
        # Publishers
        self._marker_pub = rospy.Publisher("~markers", MarkerArray, queue_size=1)

        # class variables
        self._kb_visualiser = KnowledgeBaseVisualiser()
        self._plan_visualiser = PlanVisualiser()

        rospy.sleep(1.0)
        self._marker_pub.publish(MarkerArray(markers=[Marker(action=Marker.DELETEALL)]))
        rospy.loginfo("Initialised")

    def visualise(self):
        kb_markers, kb_data = self._kb_visualiser.visualise()
        if kb_markers is None:
            return

        markers = self._plan_visualiser.visualise(kb_markers, kb_data=kb_data)
        if markers is None:
            return

        # reset markers
        self._marker_pub.publish(MarkerArray(markers=[Marker(action=Marker.DELETEALL)]))

        # publish all markers
        self._marker_pub.publish(MarkerArray(markers=markers))


if __name__ == "__main__":
    rospy.init_node("planning_visualiser")
    VISUALISER = Visualiser()
    RATE = rospy.Rate(rospy.get_param("~rate", 0.5))
    try:
        while not rospy.is_shutdown():
            VISUALISER.visualise()
            RATE.sleep()
    except rospy.exceptions.ROSInterruptException as e:
        pass
    rospy.loginfo("Exiting...")