def __init__()

in deepracer_navigation_pkg/deepracer_navigation_pkg/deepracer_navigation_node.py [0:0]

• 26 lines of code
• 9 McCabe index (conditional complexity)

    def __init__(self):
        """Create a DRNavigationNode.
        """
        super().__init__('deepracer_navigation_node')
        self.get_logger().info("deepracer_navigation_node started")
        # Initialize the listener for inference data
        self.infer_listener()
        # Publisher that sends driving messages to the servo
        # Create a reentrant callback group to publish autonomous drive messages.
        auto_drive_pub_msg_cb_group = ReentrantCallbackGroup()
        self.auto_drive_publisher = self.create_publisher(ServoCtrlMsg,
                                                          constants.AUTO_DRIVE_TOPIC_NAME,
                                                          1)
        # Service for dynamically setting the throttle in autonomous mode
        self.throttle_service_cb_group = ReentrantCallbackGroup()
        self.throttle_service = self.create_service(NavThrottleSrv,
                                                    constants.NAVIGATION_THROTTLE_SERVICE_NAME,
                                                    self.set_throttle_scale_cb,
                                                    callback_group=self.throttle_service_cb_group)
        # Throttle can be set dynamically through the navigation_throttle service
        self.throttle_scale = 0.0
        # Service for setting the action space
        self.action_space_service = self.create_service(LoadModelSrv,
                                                        constants.LOAD_ACTION_SPACE_SERVICE_NAME,
                                                        self.set_action_space_cb)
        # Action space that maps inference results to steering and throttle values
        self.action_space = constants.DEFAULT_ACTION_SPACE
        # Action space type passed as part of model_metadata.json
        self.action_space_type = constants.ActionSpaceTypes.DISCRETE
        # Dictionary that stores the max of the steering and max value of the throttle
        # These values are used to map the action space to valid steering and throttle values
        self.max_action_space_values = {constants.ModelMetadataKeys.STEERING: 0.0,
                                        constants.ModelMetadataKeys.SPEED: 0.0}
        # Coeffiecent for the non linear mapping of the velocity
        self.speed_mapping_coeficients = {'a': 0.0, 'b': 0.0}
        # Set the action value scales for the default space.
        self.set_action_space_scales()
        self.timer_count = 0
        self.timer = self.create_timer(5.0, self.timer_callback)
        self.get_logger().info("DeepRacer navigation node successfully created")