def __init__()

in simulation_ws/src/aws_robomaker_simulation_common/nodes/route_manager.py [0:0]

• 13 lines of code
• 5 McCabe index (conditional complexity)

    def __init__(self):
        # Assuming map is static after node init and not updated while the node
        # is running. If not, this must be refreshed at regular intervals or on
        # some callbacks.
        self.meta_data = rospy.wait_for_message('map_metadata', MapMetaData)
        self.occupancy_data = rospy.wait_for_message('map', OccupancyGrid)

        # map.yaml only specifies x,y and yaw transforms of the origin wrt
        # world frame
        self.map_orientation = transform.euler_from_quaternion(
            [
                self.meta_data.origin.orientation.x,
                self.meta_data.origin.orientation.y,
                self.meta_data.origin.orientation.z,
                self.meta_data.origin.orientation.w])
        self.map_yaw = self.map_orientation[2]  # (in radians)
        self.map_origin_x0 = self.meta_data.origin.position.x
        self.map_origin_y0 = self.meta_data.origin.position.y
        self.resolution = self.meta_data.resolution