class UpdateObjectiveDropShell(State):
def __init__(self):
State.__init__(self, outcomes=['succeeded','aborted','preempted'], input_keys=['robot_side'])
self.update_objective = UpdatePriority()
def execute(self, userdata):
rospy.loginfo("Side : " + str(userdata.robot_side))
request = UpdatePriorityRequest() # TODO
request.goal.pose.position.x = userdata.robot_side*(1.500 - 0.300)
request.goal.pose.position.y = 0.800
request.prio = 100
self.update_objective.send_request(request)
finished_within_time = self.update_objective.wait_for_response(rospy.Duration(10))
response = self.update_objective.get_response()
rospy.loginfo("Objective DropShell priority updated")
return 'succeeded'
def __init__(self):
State.__init__(self, outcomes=['succeeded','aborted','preempted'], input_keys=['robot_side'])
self.update_objective = UpdatePriority()
