Bug fix for check all data

carnegiemellonracing · Nov 30, 2023 · 325ff03 · 325ff03
1 parent 1095bf0
commit 325ff03
Showing 1 changed file with 1 addition and 6 deletions.
diff --git a/driverless_ws/src/perceptions/perceptions/ros/utils/DataNode.py b/driverless_ws/src/perceptions/perceptions/ros/utils/DataNode.py
@@ -34,25 +34,20 @@ def __init__(self, required_data=list(DataType), name="data_node", visualize=Fal
         self.visualize = visualize 
 
         if DataType.ZED_LEFT_COLOR in self.required_data:
-            print("need zed left")
             self.left_color_subscriber = self.create_subscription(Image, LEFT_IMAGE_TOPIC, self.left_color_callback, qos_profile=BEST_EFFORT_QOS_PROFILE)
 
         if DataType.ZED_RIGHT_COLOR in self.required_data:
-            print("need zed right")
             self.right_color_subscriber = self.create_subscription(Image, RIGHT_IMAGE_TOPIC, self.right_color_callback, qos_profile=BEST_EFFORT_QOS_PROFILE)
 
         if DataType.ZED_XYZ_IMG in self.required_data:
-            print("need zed xyz")
             self.xyz_image_subscriber = self.create_subscription(Image, XYZ_IMAGE_TOPIC, self.xyz_image_callback, qos_profile=BEST_EFFORT_QOS_PROFILE)
             if self.visualize:
                 self.xyz_image_window = vis.init_visualizer_window()
 
         if DataType.ZED_DEPTH_IMG in self.required_data:
-            print("need zed depth")
             self.depth_subscriber = self.create_subscription(Image, DEPTH_IMAGE_TOPIC, self.depth_image_callback, qos_profile=BEST_EFFORT_QOS_PROFILE)
 
         if DataType.HESAI_POINTCLOUD in self.required_data:
-            print("need hesai")
             self.point_subscriber = self.create_subscription(PointCloud2, POINT_TOPIC, self.points_callback, qos_profile=BEST_EFFORT_QOS_PROFILE)
             if self.visualize:
                 self.window = vis.init_visualizer_window()
@@ -69,7 +64,7 @@ def __init__(self, required_data=list(DataType), name="data_node", visualize=Fal
 
     def got_all_data(self):
         # returns whether data node has all pieces of data
-        return all([(data_type in self.required_data) for data_type in self.data.keys()])
+        return all([(data_type in self.data.keys()) for data_type in self.required_data])
 
     def left_color_callback(self, msg):
         self.data[DataType.ZED_LEFT_COLOR] = conv.img_to_npy(msg)