def __init__(self, status):
super(MoveBase, self).__init__(
outcomes=["succeeded", "preempted"],
input_keys=[
"pathId",
"currentSection",
"times",
],
)
self.status = status
self.serviceProxies = ros_tools.createServiceProxies(
"", MoveBase.serviceProxiesDict)
self.axclient = SimpleActionClient("/move_base", MoveBaseAction)
self.move_base_methods = {
"sequential": self.sequential,
"full_path": self.full_path,
}
for name, default in (
("move_base_method", "sequential"),
("move_base_sequential/step", 0.1),
("move_base_sequential/distance_thr", 0.3),
):
if not rospy.has_param(name):
rospy.set_param(name, default)
def __init__(self, status):
super(ErrorState, self).__init__(
outcomes=[
"finished",
],
input_keys=[],
output_keys=[],
)
self.status = status
self.serviceProxies = ros_tools.createServiceProxies(
"", ErrorState.serviceProxiesDict)
def __init__(self):
super(InitializePath, self).__init__(
outcomes=_outcomes,
input_keys=[
"pathId",
"times",
"transitionIds",
"endStateIds",
"currentSection",
],
output_keys=[
"transitionId", "endStateId", "currentSection", "duration"
],
)
self.targetPub = ros_tools.createPublishers("/hpp/target",
self.hppTargetPubDict)
self.serviceProxies = ros_tools.createServiceProxies(
"", InitializePath.serviceProxiesDict)
self.hppclient = HppClient(context="corbaserver")
def __init__(self, status, hppclient):
super(WaitForInput, self).__init__(
outcomes=["start_path", "interrupted", "failed_to_start"],
input_keys=[],
output_keys=[
"pathId",
"times",
"transitionIds",
"endStateIds",
"currentSection",
"queue_initialized",
],
)
self.status = status
rospy.logwarn("Create service WaitForInput")
self.services = ros_tools.createServiceProxies("",
self.serviceProxiesDict)
self.hppclient = hppclient
self.ready = False
def __init__(self):
super(PlayPath, self).__init__(
outcomes=_outcomes,
input_keys=[
"transitionId", "endStateId", "duration", "queue_initialized"
],
output_keys=["queue_initialized"],
)
self.targetPub = ros_tools.createPublishers("/hpp/target",
self.hppTargetPubDict)
self.subscribers = ros_tools.createSubscribers(self, "",
self.subscribersDict)
self.serviceProxies = ros_tools.createServiceProxies(
"", PlayPath.serviceProxiesDict)
self.path_published = False
self.event_done = False
self.event_error = None
self.interruption = None
self.event_done_count = 0
def __init__(self, status, hppclient):
super(InitializePath, self).__init__(
outcomes=["finished", "move_base", "next"],
input_keys=[
"pathId",
"times",
"transitionIds",
"endStateIds",
"currentSection",
],
output_keys=[
"currentSection", "times", "pathId", "transitionId",
"endStateId", "duration"
],
)
self.status = status
self.targetPub = ros_tools.createPublishers("/hpp/target",
self.hppTargetPubDict)
self.serviceProxies = ros_tools.createServiceProxies(
"", InitializePath.serviceProxiesDict)
self.hppclient = hppclient
def __init__(self, status):
super(PlayPath, self).__init__(
outcomes=["succeeded", "aborted", "preempted"],
input_keys=["transitionId", "endStateId", "duration",
"currentSection", "queue_initialized"],
output_keys=["queue_initialized"],
)
self.status = status
self.targetPub = ros_tools.createPublishers(
"/hpp/target", self.hppTargetPubDict
)
self.subscribers = ros_tools.createSubscribers(self, "", self.subscribersDict)
self.serviceProxies = ros_tools.createServiceProxies(
"", PlayPath.serviceProxiesDict
)
self.path_published = False
self.event_done = None
self.event_error = None
self.event_done_min_time = 0
self.interruption = None
self.event_done_count = 0
def __init__(self):
super(WaitForInput, self).__init__(
outcomes=["succeeded", "aborted"],
input_keys=[],
output_keys=[
"pathId",
"times",
"transitionIds",
"endStateIds",
"currentSection",
"queue_initialized",
],
)
rospy.logwarn("Create service WaitForInput")
self.services = ros_tools.createServiceProxies("",
self.serviceProxiesDict)
rospy.logwarn("f**k")
self.status_srv = rospy.Service("status", std_srvs.srv.Trigger,
self.getStatus)
rospy.logwarn("you")
self.hppclient = HppClient(context="corbaserver")
self.ready = False
self.status = "not started"
