def __init__(self,minConfidence=90):
smach.StateMachine.__init__(self, outcomes=['succeeded', 'aborted', 'preempted'],
input_keys=['object_name'],
output_keys=['standard_error','objectd'])
with self:
smach.StateMachine.add(
'detect_object',
detect_object(minConfidence),
transitions={'succeeded': 'proces_object', 'aborted': 'aborted',
'preempted': 'preempted'})
smach.StateMachine.add(
'proces_object',
proces_object(),
transitions={'succeeded': 'succeeded', 'aborted': 'aborted',
'preempted': 'preempted'})
def main():
rospy.init_node('recognize_obect_test')
sm = smach.StateMachine(outcomes=['succeeded', 'preempted', 'aborted'])
with sm:
# smach.StateMachine.add(
# 'prepare_object',
# prepare_detect_object(),
# transitions={'succeeded': 'detect_object','aborted' : 'aborted_info'})
# it call the learn state
smach.StateMachine.add('detect_object',
detect_object(),
transitions={
'succeeded': 'detect_print',
'aborted': 'aborted_info'
})
# it prints the standard error
smach.StateMachine.add('aborted_info',
recognize_Object_print(),
transitions={
'succeeded': 'succeeded',
'aborted': 'aborted'
})
# it prints the standard error
sm.userdata.object = None
smach.StateMachine.add('detect_print',
recognize_Object_print(),
transitions={
'succeeded': 'aborted_info',
'aborted': 'aborted_info'
})
# This is for the smach_viewer so we can see what is happening, rosrun smach_viewer smach_viewer.py it's cool!
sis = smach_ros.IntrospectionServer('detect_object_introspection', sm,
'/DFI_ROOT')
sis.start()
sm.execute()
rospy.spin()
sis.stop()
def main():
rospy.init_node('recognize_obect_test')
sm = smach.StateMachine(outcomes=['succeeded', 'preempted', 'aborted'])
with sm:
# smach.StateMachine.add(
# 'prepare_object',
# prepare_detect_object(),
# transitions={'succeeded': 'detect_object','aborted' : 'aborted_info'})
# it call the learn state
smach.StateMachine.add(
'detect_object',
detect_object(),
transitions={'succeeded': 'detect_print','aborted' : 'aborted_info'})
# it prints the standard error
smach.StateMachine.add(
'aborted_info',
recognize_Object_print(),
transitions={'succeeded': 'succeeded', 'aborted':'aborted'})
# it prints the standard error
sm.userdata.object=None
smach.StateMachine.add(
'detect_print',
recognize_Object_print(),
transitions={'succeeded': 'aborted_info', 'aborted':'aborted_info'})
# This is for the smach_viewer so we can see what is happening, rosrun smach_viewer smach_viewer.py it's cool!
sis = smach_ros.IntrospectionServer(
'detect_object_introspection', sm, '/DFI_ROOT')
sis.start()
sm.execute()
rospy.spin()
sis.stop()
def __init__(self, minConfidence=90):
smach.StateMachine.__init__(
self,
outcomes=['succeeded', 'aborted', 'preempted'],
input_keys=['object_name'],
output_keys=['standard_error', 'objectd'])
with self:
smach.StateMachine.add('detect_object',
detect_object(minConfidence),
transitions={
'succeeded': 'proces_object',
'aborted': 'aborted',
'preempted': 'preempted'
})
smach.StateMachine.add('proces_object',
proces_object(),
transitions={
'succeeded': 'succeeded',
'aborted': 'aborted',
'preempted': 'preempted'
})
