new Graph. hopefully better.

ros2/src/robobin/robobin/graphs/graph.json

@@ -4,17 +4,17 @@
     {
       "name": "A1",
       "x": 0,
-      "y": 682.1246591046016
+      "y": 683.8426674777152
     },
     {
       "name": "A2",
-      "x": 1494.2442134974192,
-      "y": 253.65194388011844
+      "x": 1494.4826036996865,
+      "y": 253.20931115929415
     },
     {
       "name": "A3",
-      "x": 645.2206629627362,
-      "y": -647.9713995353983
+      "x": 470.74154054236817,
+      "y": -449.16367143212346
     },
     {
       "name": "A4",
@@ -23,38 +23,58 @@
     },
     {
       "name": "Node5",
-      "x": 205.80241418662237,
-      "y": 249.93836001672082
+      "x": 93.39392129366847,
+      "y": 275.49904580290496
     },
     {
       "name": "Node6",
-      "x": 738.845549707868,
-      "y": 217.7100236584424
+      "x": 638.9135042969463,
+      "y": -46.598326546338775
     },
     {
       "name": "Node7",
-      "x": 1306.390334776231,
-      "y": 221.69310005724623
+      "x": 1052.9781037893322,
+      "y": 234.25043232511482
     },
     {
       "name": "Node8",
-      "x": 1223.1286925351685,
-      "y": 583.1619314106301
+      "x": 424.0156535923788,
+      "y": 568.8092192381193
     },
     {
       "name": "Node9",
-      "x": 113.02743332452039,
-      "y": 591.3265233330367
+      "x": 1235.1773241000042,
+      "y": 601.855636153471
     },
     {
       "name": "Node10",
-      "x": 795.0822056696198,
-      "y": 604.0129922266117
+      "x": 73.81217330301152,
+      "y": 637.9134257484828
     },
     {
       "name": "Node11",
-      "x": 797.4040669553373,
-      "y": 222.27968277975478
+      "x": 508.89722688562773,
+      "y": 811.2035760278166
+    },
+    {
+      "name": "Node12",
+      "x": 687.0555471760708,
+      "y": 417.45557421693724
+    },
+    {
+      "name": "Node13",
+      "x": 132.36682764343934,
+      "y": 509.81789337686325
+    },
+    {
+      "name": "Node14",
+      "x": 676.8877347693988,
+      "y": 384.7917953969826
+    },
+    {
+      "name": "Node15",
+      "x": 642.4709130484829,
+      "y": 5.197513408886098
     }
   ],
   "connections": [
@@ -69,6 +89,78 @@
       false,
       false,
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+      false,
+      false,
+      false
+    ],
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+      false,
+      false,
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+      false,
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+      false,
+      false,
+      false,
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+      false
+    ],
+    [
+      false,
+      false,
+      false,
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+      false,
+      false,
+      false,
+      false,
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+      false,
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+      false,
+      false
+    ],
+    [
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       false
     ],
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@@ -76,6 +168,10 @@
       false,
       false,
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+      true,
+      false,
+      true,
+      false,
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       false,
       false,
@@ -90,6 +186,10 @@
       false,
       false,
       false,
+      true,
+      false,
+      true,
+      false,
       false,
       false,
       false,
@@ -104,6 +204,10 @@
       false,
       false,
       false,
+      true,
+      false,
+      true,
+      false,
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       false,
@@ -116,6 +220,10 @@
       false,
       false,
       false,
+      false,
+      false,
+      true,
+      false,
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       false,
@@ -124,6 +232,10 @@
       false
     ],
     [
+      false,
+      false,
+      false,
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@@ -137,6 +249,10 @@
       false
     ],
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@@ -156,6 +272,10 @@
       false,
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+      false,
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@@ -170,6 +290,10 @@
       false,
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+      false,
+      false,
+      false,
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@@ -184,6 +308,10 @@
       false,
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+      false,
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@@ -198,6 +326,10 @@
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+      false,
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ros2/src/robobin/robobin/helpers/graph_maker.py

@@ -74,7 +74,7 @@ class GraphMaker:
         print(f"Node {new_node_index+1} added at ({tag1_x:.2f}, {tag1_y:.2f}).")
 
     def save_graph(self):
-        directory = "/Users/paulwinpenny/Documents/GitHub/robobin/Wireless_Communication/UWB/Beacons_tag_position/output"
+        directory = "/Users/paulwinpenny/Documents/GitHub/robobin/ros2/src/robobin/robobin/graphs"
         # directory = "C:/Users/joell/OneDrive/Documents/GitHub"
         os.makedirs(directory, exist_ok=True)  # Create the directory if it doesn't exist
         file_path = os.path.join(directory, "graph.json")