def main()

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

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

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

        while not rospy.is_shutdown():
            all_active_data = {}
            for name, data_w_timestamp in self.all_data.iteritems():
                data = data_w_timestamp[0]
                gazebo_pose = data['gazebo_pose']

                robot_pose =  Pose()
                robot_pose.position.x = gazebo_pose['x']
                robot_pose.position.y = gazebo_pose['y']
                robot_pose.position.z = gazebo_pose['z']
                robot_pose.orientation.x = gazebo_pose['qx']
                robot_pose.orientation.y = gazebo_pose['qy']
                robot_pose.orientation.z = gazebo_pose['qz']
                robot_pose.orientation.w = gazebo_pose['qw']

                if self.use_custom_move_plugin:
                    publisher = data_w_timestamp[2]
                    publisher.publish(robot_pose)
                else:
                    model_state = ModelState()
                    model_state.model_name = name
                    model_state.pose = robot_pose
                    self.gazebo_set_state_pub.publish(model_state)

                all_active_data[data['name']] = data
                
            self.all_active_data_pub.publish(json.dumps(all_active_data))
            rate.sleep()