def get_dispatch_msg(self, action):
dispatch_msg = plan_dispatch_msgs.ActionDispatch()
arg_msg = diag_msgs.KeyValue()
arg_msg.key = 'bot'
arg_msg.value = self.robot_name
dispatch_msg.parameters.append(arg_msg)
if action.intention == 'go':
dispatch_msg.name = 'move_base'
for slot in action.slots:
arg_msg = diag_msgs.KeyValue()
if slot.type == 'destination':
arg_msg.key = 'to'
arg_msg.value = slot.data
dispatch_msg.parameters.append(arg_msg)
elif action.intention == 'take':
for slot in action.slots:
arg_msg = diag_msgs.KeyValue()
if slot.type == 'object':
arg_msg.key = 'obj'
elif slot.type == 'source':
dispatch_msg.name = 'pick'
arg_msg.key = 'surface'
elif slot.type == 'destination':
dispatch_msg.name = 'place'
arg_msg.key = 'surface'
arg_msg.value = slot.data
dispatch_msg.parameters.append(arg_msg)
return dispatch_msg
def get_dispatch_msg(self, obj_name, surface_name):
dispatch_msg = plan_dispatch_msgs.ActionDispatch()
dispatch_msg.name = self.action_name
arg_msg = diag_msgs.KeyValue()
arg_msg.key = 'bot'
arg_msg.value = self.robot_name
dispatch_msg.parameters.append(arg_msg)
arg_msg = diag_msgs.KeyValue()
arg_msg.key = 'obj'
arg_msg.value = obj_name
dispatch_msg.parameters.append(arg_msg)
arg_msg = diag_msgs.KeyValue()
arg_msg.key = 'plane'
arg_msg.value = surface_name
dispatch_msg.parameters.append(arg_msg)
arg_msg = diag_msgs.KeyValue()
arg_msg.key = 'context'
arg_msg.value = self.grasping_context
dispatch_msg.parameters.append(arg_msg)
return dispatch_msg
def get_dispatch_msg(self):
dispatch_msg = plan_dispatch_msgs.ActionDispatch()
dispatch_msg.name = self.action_name
arg_msg = diag_msgs.KeyValue()
arg_msg.key = 'bot'
arg_msg.value = self.robot_name
dispatch_msg.parameters.append(arg_msg)
return dispatch_msg
def get_dispatch_msg(self, original_location, destination_location):
dispatch_msg = plan_dispatch_msgs.ActionDispatch()
dispatch_msg.name = self.action_name
arg_msg = diag_msgs.KeyValue()
arg_msg.key = 'bot'
arg_msg.value = self.robot_name
dispatch_msg.parameters.append(arg_msg)
arg_msg = diag_msgs.KeyValue()
arg_msg.key = 'from'
arg_msg.value = original_location
dispatch_msg.parameters.append(arg_msg)
arg_msg = diag_msgs.KeyValue()
arg_msg.key = 'to'
arg_msg.value = destination_location
dispatch_msg.parameters.append(arg_msg)
return dispatch_msg
