def call_recognize_person(pers): #TODO PersonName maybe?
tosay = "I'm going to recognize " + pers
speak = speaker(tosay)
speak.execute()
rospy.logwarn('call_recognize_person ' + pers)
#############################################################################
if SKILLS:
if (time.time() - TIME_INIT) > 270:
return "succeeded"
out = 'aborted'
tries = 0
while (out == 'aborted' and tries < 3):
tries = tries + 1
sm = recognize_face()
sm.userdata.name = pers
out = sm.execute()
if out == 'succeeded':
tosay = "I recognized you, " + pers
speak = speaker(tosay)
speak.execute()
#############################################################################
time.sleep(SLEEP_TIME)
return "succeeded"
def call_recognize_person(pers): #TODO PersonName maybe?
tosay = "I'm going to recognize " + pers
speak = speaker(tosay)
speak.execute()
rospy.logwarn('call_recognize_person ' + pers)
#############################################################################
if SKILLS :
if (time.time()-TIME_INIT) > 270:
return "succeeded"
out = 'aborted'
tries = 0
while(out=='aborted' and tries<3):
tries = tries+1
sm = recognize_face()
sm.userdata.name = pers
out = sm.execute()
if out =='succeeded':
tosay = "I recognized you, " + pers
speak = speaker(tosay)
speak.execute()
#############################################################################
time.sleep(SLEEP_TIME)
return "succeeded"
def main():
rospy.init_node('recognize_face_test')
sm = smach.StateMachine(outcomes=['succeeded', 'preempted', 'aborted'])
with sm:
# it call the learn state
smach.StateMachine.add('prepare_face_reconize',
prepare_recognize_face(),
transitions={
'succeeded': 'detect_face',
'aborted': 'aborted_info'
})
# it call the learn state
smach.StateMachine.add('detect_face',
recognize_face(),
transitions={
'succeeded': 'detect_print',
'aborted': 'aborted_info'
})
# it prints the standard error
smach.StateMachine.add('aborted_info',
recognize_Face_error(),
transitions={
'succeeded': 'succeeded',
'aborted': 'aborted'
})
# it prints the standard error
sm.userdata.face = None
smach.StateMachine.add('detect_print',
recognize_Face_print(),
transitions={
'succeeded': 'aborted_info',
'aborted': 'aborted_info'
})
# This is for the smach_viewer so we can see what is happening, rosrun smach_viewer smach_viewer.py it's cool!
sis = smach_ros.IntrospectionServer('detect_face_introspection', sm,
'/DFI_ROOT')
sis.start()
sm.execute()
rospy.spin()
sis.stop()
def main():
rospy.init_node('recognize_face_test')
sm = smach.StateMachine(outcomes=['succeeded', 'preempted', 'aborted'])
with sm:
# it call the learn state
smach.StateMachine.add(
'prepare_face_reconize',
prepare_recognize_face(),
transitions={'succeeded': 'detect_face','aborted' : 'aborted_info'})
# it call the learn state
smach.StateMachine.add(
'detect_face',
recognize_face(),
transitions={'succeeded': 'detect_print','aborted' : 'aborted_info'})
# it prints the standard error
smach.StateMachine.add(
'aborted_info',
recognize_Face_error(),
transitions={'succeeded': 'succeeded', 'aborted':'aborted'})
# it prints the standard error
sm.userdata.face=None
smach.StateMachine.add(
'detect_print',
recognize_Face_print(),
transitions={'succeeded': 'aborted_info', 'aborted':'aborted_info'})
# This is for the smach_viewer so we can see what is happening, rosrun smach_viewer smach_viewer.py it's cool!
sis = smach_ros.IntrospectionServer(
'detect_face_introspection', sm, '/DFI_ROOT')
sis.start()
sm.execute()
rospy.spin()
sis.stop()
