def multiple_goals_starter(): rospy.init_node('multiple_goals_starter') # wfg = WaitForGoalState() # We don't want multiple subscribers so we need one WaitForGoal state runner = Runner(rgoap_subclasses) sm = util.simple_state_wrapper(AutonomousRGOAPState(runner)) print sm util.execute_smach_container(sm, True, '/MULTIPLE_GOALS') print 'DONE!'
def _test_look_around(): rospy.init_node('smach') print POSES print POSES_GLIMPSE print POSES_CRAZY sq = smach.Sequence(outcomes=['succeeded', 'aborted', 'preempted'], connector_outcome='succeeded') with sq: smach.Sequence.add('LOOK_AROUND', get_lookaround_smach(util.SleepState(1))) smach.Sequence.add('GLIMPSE_AROUND', get_lookaround_smach(util.SleepState(1), glimpse=True)) util.execute_smach_container(sq, enable_introspection=True)
def test_runner(): rospy.init_node('runner_test') runner = Runner() sq = Sequence(outcomes=['succeeded', 'aborted', 'preempted'], connector_outcome='succeeded') wfg = WaitForGoalState() # We don't want multiple subscribers so we need one WaitForGoal state with sq: Sequence.add('SLEEP', SleepState(5)) Sequence.add('WAIT_FOR_GOAL', wfg, transitions={'aborted':'SLEEP'}) Sequence.add('MOVE_BASE_RGOAP', MoveBaseRGOAPState(runner), transitions={'succeeded':'SLEEP'}) execute_smach_container(sq, enable_introspection=True)
def main(): rospy.init_node('smach') util.execute_smach_container(get_go_and_return_smach(), enable_introspection=True)
def main(): rospy.init_node('smach') util.execute_smach_container(_get_transport_box_smach(), enable_introspection=True)
def main(): rospy.init_node('smach') util.execute_smach_container(get_go_and_return_smach(), enable_introspection=True)
def main(): rospy.init_node('smach') util.execute_smach_container(get_move_around_smach(), enable_introspection=True)
def exec_state(state): sm = simple_state_wrapper(state) return execute_smach_container(sm, userdata=ud)
def exec_state(state): sm = simple_state_wrapper(state) return execute_smach_container(sm, userdata=ud)
def main(): rospy.init_node('smach') util.execute_smach_container(_get_transport_box_smach(), enable_introspection=True)
def main(): rospy.init_node('smach') util.execute_smach_container(get_move_around_smach(), enable_introspection=True)