def ros_style_midca(): myMidca = base.MIDCA(None, verbose=2) for phase in ["Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]: myMidca.append_phase(phase) myMidca.append_module("Perceive", perceive.ROSObserver()) myMidca.append_module("Interpret", guide.InstructionReceiver_sr()) myMidca.append_module("Eval", evaluate.EvalPointingFromFeedback()) myMidca.append_module("Intend", intend.SimpleIntend()) myMidca.append_module( "Plan", planning.AsynchPyhopPlanner(methods_sr.declare_methods, operators_sr.declare_ops)) myMidca.append_module("Act", act.AsynchronousAct()) return myMidca
def ros_style_midca(): myMidca = base.MIDCA(None, verbose=2) for phase in ["Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]: myMidca.append_phase(phase) myMidca.append_module("Perceive", ROSObserver.ROSObserver()) myMidca.append_module("Interpret", InstructionReceiver.InstructionReceiver()) myMidca.append_module("Eval", EvalPointingFromFeedback.EvalPointingFromFeedback()) myMidca.append_module("Intend", SimpleIntend.SimpleIntend()) myMidca.append_module( "Plan", AsynchPyhopPlanner.AsynchPyhopPlanner(methods.declare_methods, operators.declare_ops, monitors.declare_monitors)) myMidca.append_module("Act", AsynchronousAct.AsynchronousAct()) return myMidca