def __init__(self, waypoints_name, is_random, n_iterations):
# Create the main state machine
self.long_term_patrol_sm = WaypointPatrollerWithPulse(
waypoints_name, is_random, n_iterations)
# Create a logger
logger = PatrollLogger("autonomous_patrolling")
self.long_term_patrol_sm.set_logger(logger)
# dynamic reconfiguration of battery tresholds
self.srv = Server(PatrollerTresholdsConfig, self.reconfigure_callback)
pass
