def set_location_function(name, pose_in=None):
global pose
if pose_in is None:
pose_in = pose.pose
# print pose
# rospy.INFO('Setting location to %s' % name)
interface.add_instance('location', name, pose_in)
def handle_create_new_person(req):
if req.name != "":
rospy.loginfo("Creating %s with id %s" % (str(req.name) ,str(req.id)))
human = Human(req.name, req.id)
population[req.id] = human
with open(pop_file, 'w') as file:
pickle.dump(population, file)
interface.add_instance('person', human._person.name, human)
return True
else:
return False
def handle_create_new_person(req):
if req.name != "":
rospy.loginfo("Creating %s with id %s" % (str(req.name) ,str(req.id)))
human = Human(req.name, req.id)
population[req.id] = human
with open(pop_file, 'w') as file:
pickle.dump(population, file)
interface.add_instance('person', human._person.name, human)
return True
else:
return False
if __name__ == '__main__':
rospy.init_node("name_provider_node")
interface.init()
pop_file = '/home/yochan/names.pickle'
if os.path.isfile(pop_file):
with open(pop_file, 'r') as file:
population = pickle.load(file)
for key in population:
h = population[key]
interface.add_instance('person', h._person.name, h)
get_name_service = rospy.Service("get_real_name", GetRealName, handle_get_real_name)
get_name_service = rospy.Service("create_new_person", CreateNewPerson, handle_create_new_person)
rospy.spin()
def recieve_message(msg, sender=None, loc=None):
res = listen()
if not res:
raise Exception
plans.add_instance('message', msg, String(res))
plans.add_predicate('hasmessage', msg)
def bring_msg(source, dest):
msg_name = planner.add_instance('message')
planner.add_predicate('has_message', person=source, msg=msg_name)
return planner.gen_predicate('has_message', person=dest, msg=msg_name)
