def main()

in simulation_ws/src/robot_fleet/scripts/client_rosbridge.py [0:0]

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

    def main(self):
        rate = rospy.Rate(10.0)
        listener = tf.TransformListener()

        while not rospy.is_shutdown():
            try:
                (trans,rot) = listener.lookupTransform('map', '/base_link', rospy.Time(0))
                nav_pose = {}
                nav_pose['x'] = trans[0]
                nav_pose['y'] = trans[1]
                nav_pose['z'] = trans[2]

                nav_pose['qx'] = rot[0]
                nav_pose['qy'] = rot[1]
                nav_pose['qz'] = rot[2]
                nav_pose['qw'] = rot[3]

                self.data_to_rosbridge['navigation_pose'] = nav_pose
                
                gazebo_pose = {} 
                gazebo_model_index = self.current_model_state.name.index("/")  # Looking for main robot which in under namespace "/"
                gz_pose = self.current_model_state.pose[gazebo_model_index]
                gazebo_pose['x'] = gz_pose.position.x
                gazebo_pose['y'] = gz_pose.position.y
                gazebo_pose['z'] = gz_pose.position.z

                gazebo_pose['qx'] = gz_pose.orientation.x
                gazebo_pose['qy'] = gz_pose.orientation.y
                gazebo_pose['qz'] = gz_pose.orientation.z
                gazebo_pose['qw'] = gz_pose.orientation.w
                self.data_to_rosbridge['gazebo_pose'] = gazebo_pose

                self.talker.publish(roslibpy.Message( {'data': json.dumps(self.data_to_rosbridge)} ))
            except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
                rospy.loginfo("[client_rosbridge] TF exception in gathering current position")

            rate.sleep()