Merge branch 'megacity-dzenan-pr' into megacity

ual-arm-ros-pkg · Sep 4, 2018 · 8199ad4 · 8199ad4
2 parents 79e0655 + e08e956
commit 8199ad4
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Showing 6 changed files with 14 additions and 1 deletion.
diff --git a/catkin_ws/src/40-coordination/explicit_coordinator/launch/coordination_ETHZ17.launch b/catkin_ws/src/40-coordination/explicit_coordinator/launch/coordination_ETHZ17.launch
@@ -9,6 +9,7 @@
     <arg name="param_file_name" default="default" doc="Specify a param file. ex:megaman." />
 
     <arg name="intersectionType" default="trafficLight" />
+    <arg name="use_priority_protocol" default="true" />
 
     <!-- Run coordination node -->
     <group ns="$(arg veh)">
@@ -18,6 +19,7 @@
             <!-- <rosparam command="load" file="$(find duckietown)/config/$(arg config)/explicit_coordination/$(arg node_name)/$(arg param_file_name).yaml"/> -->
             <param name="verbose" value="$(arg verbose)"/>
             <param name="intersectionType" value="$(arg intersectionType)"/>
+            <param name="use_priority_protocol" value="$(arg use_priority_protocol)"/>
         </node>
 
         <!-- run remote -->
@@ -26,6 +28,7 @@
             <!-- <rosparam command="load" file="$(find duckietown)/config/$(arg config)/explicit_coordination/$(arg node_name)/$(arg param_file_name).yaml"/> -->
             <param name="verbose" value="$(arg verbose)"/>
             <param name="intersectionType" value="$(arg intersectionType)"/>
+            <param name="use_priority_protocol" value="$(arg use_priority_protocol)"/> 
         </node>
 
     </group>

diff --git a/catkin_ws/src/40-coordination/explicit_coordinator/src/coordinator_node.py b/catkin_ws/src/40-coordination/explicit_coordinator/src/coordinator_node.py
@@ -56,6 +56,10 @@ def __init__(self):
         # Parameters
         self.traffic_light_intersection = UNKNOWN
 
+        self.use_priority_protocol = True
+        if rospy.get_param("~use_priority_protocol") == False:
+            self.use_priority_protocol = False
+
 
         self.tl_timeout = 60
         rospy.set_param("~tl_timeout", self.tl_timeout)
@@ -98,7 +102,7 @@ def __init__(self):
             rospy.sleep(0.1)
 
     def cbMaintenanceState(self, msg):
-        if msg.state == "WAY_TO_MAINTENANCE":
+        if msg.state == "WAY_TO_MAINTENANCE" and self.use_priority_protocol:
             self.priority = True
             rospy.loginfo('[%s] Granted priority rights on intersections!' %(self.node_name))
         else:

diff --git a/catkin_ws/src/70-convenience-packages/duckietown_demos/launch/maintenance_test.launch b/catkin_ws/src/70-convenience-packages/duckietown_demos/launch/maintenance_test.launch
@@ -1,6 +1,7 @@
 <launch>
 	<arg name="veh" default="$(env VEHICLE_NAME)"/>
 	<arg name="target_node" default="240" doc="int - value of AprilTag_ID at the target node"/>
+	<arg name="use_priority_protocol" default= "true"/>
 
 	<!-- start basic args -->
 	<include file="$(find duckietown_demos)/launch/master.launch">
@@ -30,6 +31,7 @@
 		<arg name="/LED/detector" value="true"/>
 		<arg name="/LED/emitter" value="true"/>
 		<arg name="intersectionType" value="trafficLight"/>
+		<arg name="use_priority_protocol" value= "$(arg use_priority_protocol)"/>
 		<!-- Charging control enabled for Megacity -->
 		<arg name="charging_control" value="true"/>
 		<arg name="maintenance_control" value="true"/>

diff --git a/catkin_ws/src/70-convenience-packages/duckietown_demos/launch/master.launch b/catkin_ws/src/70-convenience-packages/duckietown_demos/launch/master.launch
@@ -16,6 +16,7 @@
 	<arg name="loc" default="-1"/>
 	<arg name="line_detector_param_file_name" default="$(arg param_file_name)"/>
 	<arg name="intersectionType" default= "stopSign"/>
+	<arg name="use_priority_protocol" default= "true"/>
 	<arg name="target_node" default="240"/>
 	<!-- end basic args -->
 
@@ -598,6 +599,7 @@
 			<arg name="config" value="$(arg config)"/>
 			<arg name="param_file_name" value="$(arg param_file_name)"/>
 			<arg name="intersectionType" value="$(arg intersectionType)" />
+ 			<arg name="use_priority_protocol" value="$(arg use_priority_protocol)" />
 
 		</include>
 	</group>

diff --git a/catkin_ws/src/70-convenience-packages/duckietown_demos/launch/megacity.launch b/catkin_ws/src/70-convenience-packages/duckietown_demos/launch/megacity.launch
@@ -28,6 +28,7 @@
 		<arg name="/LED/detector" value="true"/>
 		<arg name="/LED/emitter" value="true"/>
 		<arg name="intersectionType" value="trafficLight"/>
+		<arg name="use_priority_protocol" value= "true"/> 
 		<!-- Charging control enabled for Megacity -->
 		<arg name="charging_control" value="true"/>
 		<arg name="maintenance_control" value="true"/>

diff --git a/requirements.txt b/requirements.txt
@@ -20,5 +20,6 @@ ruamel.yaml==0.15.34
 PyGeometry==1.3
 beautifulsoup4==4.6.0
 matplotlib==1.5.1
+graphviz==0.9
 
 # SystemCmd