bs0 = RobotPatrolArea0("robot_2/move_base/switch0","robot_2_partrol0_node")
bs1 = RobotPatrolArea1("robot_2/move_base/switch1","robot_2_partrol1_node")
bs2 = RobotPatrolArea2("robot_2/move_base/switch2","robot_2_partrol2_node")
bs0.start()
bs1.start()
bs2.start()
mb0 = MotivationalBehavior('r2_mb0',2,0,'robot2_switch0_patrol/activate')#nodename,robotid,behaviorid
mb0.set_fast(10)
mb0.enable_random_inc()
mb0.set_sensory_feedback(1)
mb0.set_sensor('robot_2/patrol_sensory_feedback')
mb0.start()
s0 = Switch('robot2_switch0_patrol','robot_2/move_base/switch0/goal',move_base_msgs.msg.MoveBaseActionGoal,'robot_2/move_base/goal','/robot_2/move_base/result', move_base_msgs.msg.MoveBaseActionResult, '/robot_2/move_base/switch0/result')#nodename,subtopic,type,pubtopic
s0.add_action('robot_2/move_base/switch0','robot_2/move_base')
s0.start()
mb1 = MotivationalBehavior('r2_mb1',2,1,'robot2_switch1_patrol/activate')#nodename,robotid,behaviorid
mb1.set_fast(10)
mb1.enable_random_inc()
mb1.set_sensory_feedback(1)
mb1.set_sensor('robot_2/patrol_sensory_feedback')
mb1.start()
s1 = Switch('robot2_switch1_patrol','robot_2/move_base/switch1/goal',move_base_msgs.msg.MoveBaseActionGoal,'robot_2/move_base/goal','/robot_2/move_base/result', move_base_msgs.msg.MoveBaseActionResult, '/robot_2/move_base/switch1/result')#nodename,subtopic,type,pubtopic
s1.add_action('robot_2/move_base/switch1','robot_2/move_base')
s1.start()
mb2 = MotivationalBehavior('r2_mb2',2,2,'robot2_switch2_patrol/activate')#nodename,robotid,behaviorid
mb2.set_fast(20)
mb2.enable_random_inc()
bs2.start()
mb0 = MotivationalBehavior(
'r0_mb0', 0, 0,
'robot0_switch0_patrol/activate') #nodename,robotid,behaviorid
mb0.set_fast(20)
mb0.enable_random_inc()
mb0.set_sensory_feedback(1)
mb0.set_sensor('robot_0/patrol_sensory_feedback')
mb0.start()
s0 = Switch(
'robot0_switch0_patrol', 'robot_0/move_base/switch0/goal',
move_base_msgs.msg.MoveBaseActionGoal, 'robot_0/move_base/goal',
'/robot_0/move_base/result', move_base_msgs.msg.MoveBaseActionResult,
'/robot_0/move_base/switch0/result') #nodename,subtopic,type,pubtopic
s0.add_action('robot_0/move_base/switch0', 'robot_0/move_base')
s0.start()
mb1 = MotivationalBehavior(
'r0_mb1', 0, 1,
'robot0_switch1_patrol/activate') #nodename,robotid,behaviorid
mb1.set_fast(10)
mb1.enable_random_inc()
mb1.set_sensory_feedback(1)
mb1.set_sensor('robot_0/patrol_sensory_feedback')
mb1.start()
s1 = Switch(
'robot0_switch1_patrol', 'robot_0/move_base/switch1/goal',
move_base_msgs.msg.MoveBaseActionGoal, 'robot_0/move_base/goal',
'/robot_0/move_base/result', move_base_msgs.msg.MoveBaseActionResult,
'/robot_0/move_base/switch1/result') #nodename,subtopic,type,pubtopic
