MORSE builder script to test memoryview with ROS camera and depth camera sensors

test.py

from morse.builder import *

# EDIT HERE
depth = False      # edit {True, False} for {depth, video} camera
memoryview = False # edit {True, False} for {memoryview, bytes}

# Append ATRV robot to the scene
atrv = Robot('atrv')

# Append an actuator
motion = Actuator('v_omega')
motion.translate(z=0.3)
motion.name = 'Motion'
atrv.append(motion)
motion.configure_mw('ros')

# Append an Odometry sensor
odometry = Sensor('odometry')
odometry.name = 'Odometry'
odometry.translate(z=0.73)
atrv.append(odometry)
odometry.configure_mw('ros')

# Append a camera
if depth:
    camera = Sensor('depth_camera')
    camera.name = 'CameraDepth'
    camera.properties(cam_near=1.0, cam_far=20.0, Depth=True)
else: # video
    camera = Sensor('video_camera')
    camera.name = 'CameraVideo'
    camera.properties(Vertical_Flip=True)

camera.properties(cam_width=640, cam_height=480, capturing=True)
camera.translate(x=0.3, z=0.76)
camera.frequency(60)
atrv.append(camera)
camera.configure_mw('ros')

env = Environment('indoors-1/indoor-1')
env.aim_camera([1.0470, 0, 0.7854])
env.show_framerate()
env.profile(camera)
env.profile(odometry)
env.properties(ros_memoryview_patched=memoryview)