Commit 5f86185a authored by Kay's avatar Kay
Browse files

Update runner_script

parent 4fb1de5c
......@@ -77,8 +77,8 @@ plan_names = ['circle', 'left turn', 'right turn', 'wave', 'cse022 real path']
def get_current_pose():
car_pose_topic = \
('/car_pose' if int(rospy.get_param('/controller/use_sim_pose')) == 1
else '/pf/inferred_pose')
('/pf/inferred_pose' if rospy.has_param('/controller/use_sim_pose') and int(rospy.get_param('/controller/use_sim_pose')) == 0
else '/car_pose')
print("Listening to {} for initial pose".format(car_pose_topic))
car_pose_msg = rospy.wait_for_message(car_pose_topic, PoseStamped)
tf_listener = tf.TransformListener()
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