diff --git a/ros2/src/robobin/robobin/graphs/graph.json b/ros2/src/robobin/robobin/graphs/graph.json
index 6fe5a30a1b28a5bfa95d53efd67d3ecc39957f40..366d562a19b8b409ad0ea6a1c707c9c9dde9301c 100644
--- a/ros2/src/robobin/robobin/graphs/graph.json
+++ b/ros2/src/robobin/robobin/graphs/graph.json
@@ -4,17 +4,17 @@
{
"name": "A1",
"x": 0,
- "y": 683.8426674777152
+ "y": 679.6644325851731
},
{
"name": "A2",
- "x": 1494.4826036996865,
- "y": 253.20931115929415
+ "x": 1494.6523425668192,
+ "y": 270.3753835093378
},
{
"name": "A3",
- "x": 470.74154054236817,
- "y": -449.16367143212346
+ "x": 654.6331415803372,
+ "y": -643.6187595025372
},
{
"name": "A4",
@@ -23,62 +23,82 @@
},
{
"name": "Node5",
- "x": 93.39392129366847,
- "y": 275.49904580290496
+ "x": 1236.6236937460499,
+ "y": 626.7463258673126
},
{
"name": "Node6",
- "x": 638.9135042969463,
- "y": -46.598326546338775
+ "x": 1107.6511394229492,
+ "y": 629.0992105697735
},
{
"name": "Node7",
- "x": 1052.9781037893322,
- "y": 234.25043232511482
+ "x": 989.6882286490039,
+ "y": 632.0535697027161
},
{
"name": "Node8",
- "x": 424.0156535923788,
- "y": 568.8092192381193
+ "x": 852.7015730481008,
+ "y": 634.2968533672276
},
{
"name": "Node9",
- "x": 1235.1773241000042,
- "y": 601.855636153471
+ "x": 772.232844496588,
+ "y": 606.6862811773619
},
{
"name": "Node10",
- "x": 73.81217330301152,
- "y": 637.9134257484828
+ "x": 770.3371326786553,
+ "y": 484.69823277423563
},
{
"name": "Node11",
- "x": 508.89722688562773,
- "y": 811.2035760278166
+ "x": 778.2777647183966,
+ "y": 377.3746984338545
},
{
"name": "Node12",
- "x": 687.0555471760708,
- "y": 417.45557421693724
+ "x": 801.1366057323605,
+ "y": 251.90717195294604
},
{
"name": "Node13",
- "x": 132.36682764343934,
- "y": 509.81789337686325
+ "x": 806.2419595959261,
+ "y": 173.777774140363
},
{
"name": "Node14",
- "x": 676.8877347693988,
- "y": 384.7917953969826
+ "x": 908.4267516751775,
+ "y": 231.85001260197535
},
{
"name": "Node15",
- "x": 642.4709130484829,
- "y": 5.197513408886098
- }
+ "x": 1041.9927977615012,
+ "y": 226.94380866336803
+ },
+
],
"connections": [
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+ false,
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@@ -110,6 +130,7 @@
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@@ -127,6 +148,7 @@
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@@ -151,6 +174,7 @@
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@@ -330,6 +363,7 @@
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diff --git a/ros2/src/robobin/robobin/graphs/graphpt2.json b/ros2/src/robobin/robobin/graphs/graphpt2.json
new file mode 100644
index 0000000000000000000000000000000000000000..eefd4ab188e80f0e38b6d6fc13e8f929f1be093c
--- /dev/null
+++ b/ros2/src/robobin/robobin/graphs/graphpt2.json
@@ -0,0 +1,123 @@
+{
+ "name": "Lab 1 Extended",
+ "nodes": [
+ {
+ "name": "A1",
+ "x": 0,
+ "y": 679.239821315259
+ },
+ {
+ "name": "A2",
+ "x": 1493.441338836379,
+ "y": 257.44028404139897
+ },
+ {
+ "name": "A3",
+ "x": 648.8116533491154,
+ "y": -648.3094967053953
+ },
+ {
+ "name": "A4",
+ "x": 0,
+ "y": 0
+ },
+ {
+ "name": "Node5",
+ "x": 1148.6969606484506,
+ "y": 227.22069723814027
+ },
+ {
+ "name": "Node6",
+ "x": 1287.102163768439,
+ "y": 217.49951543050804
+ },
+ {
+ "name": "Node7",
+ "x": 1371.58797853352,
+ "y": 255.7025704210035
+ }
+
+ ],
+ "connections": [
+ [
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+ [
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+ true,
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+ ]
+ ]
+}
\ No newline at end of file
diff --git a/ros2/src/robobin/robobin/graphs/old_graph.json b/ros2/src/robobin/robobin/graphs/old_graph.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fe5a30a1b28a5bfa95d53efd67d3ecc39957f40
--- /dev/null
+++ b/ros2/src/robobin/robobin/graphs/old_graph.json
@@ -0,0 +1,337 @@
+{
+ "name": "Lab 1 Extended",
+ "nodes": [
+ {
+ "name": "A1",
+ "x": 0,
+ "y": 683.8426674777152
+ },
+ {
+ "name": "A2",
+ "x": 1494.4826036996865,
+ "y": 253.20931115929415
+ },
+ {
+ "name": "A3",
+ "x": 470.74154054236817,
+ "y": -449.16367143212346
+ },
+ {
+ "name": "A4",
+ "x": 0,
+ "y": 0
+ },
+ {
+ "name": "Node5",
+ "x": 93.39392129366847,
+ "y": 275.49904580290496
+ },
+ {
+ "name": "Node6",
+ "x": 638.9135042969463,
+ "y": -46.598326546338775
+ },
+ {
+ "name": "Node7",
+ "x": 1052.9781037893322,
+ "y": 234.25043232511482
+ },
+ {
+ "name": "Node8",
+ "x": 424.0156535923788,
+ "y": 568.8092192381193
+ },
+ {
+ "name": "Node9",
+ "x": 1235.1773241000042,
+ "y": 601.855636153471
+ },
+ {
+ "name": "Node10",
+ "x": 73.81217330301152,
+ "y": 637.9134257484828
+ },
+ {
+ "name": "Node11",
+ "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": [
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+}
\ No newline at end of file
diff --git a/ros2/src/robobin/robobin/helpers/graph_maker.py b/ros2/src/robobin/robobin/helpers/graph_maker.py
index 220c8de8d1d964c2c586eef7f3c38bae95e39d37..1b8ba59cf6b344f8bc00cfb7f5cefbc99fc23799 100644
--- a/ros2/src/robobin/robobin/helpers/graph_maker.py
+++ b/ros2/src/robobin/robobin/helpers/graph_maker.py
@@ -2,6 +2,7 @@ import json
import time
import os
from realtime_location_cli_only import AnchorTagCLI
+import matplotlib.pyplot as plt
class GraphMaker:
def __init__(self, port="COM5", testing=False):
@@ -77,7 +78,7 @@ class GraphMaker:
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")
+ file_path = os.path.join(directory, "graphpt3.json")
with open(file_path, "w") as f:
json.dump(self.graph, f, indent=2)
print(f"Graph saved to '{file_path}'.")