def __init__()

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

• 17 lines of code
• 4 McCabe index (conditional complexity)

    def __init__(self):
        self.route = []

        self.client = actionlib.SimpleActionClient('move_base', MoveBaseAction)
        self.client.wait_for_server()

        self.route_mode = rospy.get_param('~mode')
        if self.route_mode not in RouteManager.route_modes:
            rospy.logerr(
                'Route mode %s unknown, exiting route manager',
                self.route_mode)
            return

        poses = rospy.get_param('~poses', [])
        if not poses and self.route_mode != 'dynamic':
            rospy.loginfo(
                'Route manager initialized no goals, unable to route')

        self.goals = RouteManager.route_modes[self.route_mode](poses)
        rospy.loginfo('Route manager initialized in %s mode', self.route_mode)

        self.bad_goal_counter = 0