New data structure is applied.
I create a class Graph for the topology instead of using another python module (such as NetworkX). This class is much lighter and ROS friendly. Its node simply contains coordinates, neighbors, and color for visualization.
New data structure is applied. I create a class
Graphfor the topology instead of using another python module (such asNetworkX). This class is much lighter and ROS friendly. Its node simply contains coordinates, neighbors, and color for visualization.