sm1,
transitions={
'succeeded': 'GOTO_GRIPPER_FIRST',
'aborted': 'aborted',
'preempted': 'preempted',
'arrived': 'GOTO_GRIPPER_FIRST'
})
smach.StateMachine.add('GOTO_GRIPPER_FIRST',
getGoToGripperMachine(1),
transitions={
'succeeded': 'WAIT_HELLO2',
'error': 'aborted'
})
smach.StateMachine.add('WAIT_HELLO2',
WaitTopicState('butia_speech/bhd/detected'),
transitions={
'succeeded': 'GOTO_2',
'error': 'GOTO_GRIPPER_FIRST'
})
sm2 = getGoToFixedMachine('living_room')
smach.StateMachine.add('GOTO_2',
sm2,
transitions={
'succeeded': 'succeeded',
'aborted': 'aborted',
'preempted': 'preempted',
'arrived': 'arrived'
})
outcome = sm.execute()
#!/usr/bin/env python
import rospy
import smach
from butia_behavior.states import SetFixedTargetState
from butia_behavior.machines import getGoToFixedMachine, getGoToMachine
if __name__ == '__main__':
rospy.init_node('goto_two_points')
sm = smach.StateMachine(outcomes=['succeeded', 'aborted', 'preempted'])
with sm:
###
sm1 = getGoToFixedMachine('nautec')
smach.StateMachine.add('GOTO_1',
sm1,
transitions={
'succeeded': 'GOTO_2',
'aborted': 'aborted',
'preempted': 'preempted'
})
###
sm2 = getGoToFixedMachine('fbot')
smach.StateMachine.add('GOTO_2',
sm2,
transitions={
'succeeded': 'GOTO_1',
'aborted': 'aborted',
'preempted': 'preempted'
})
outcome = sm.execute()
from butia_behavior.machines import getWaitDoorMachine, getGoToFixedMachine, getPickUpMachine, getHandOverMachine
from butia_behavior.states import SaySomethingState
def average(counts):
return reduce(operator.add, counts) / len(counts)
if __name__ == '__main__':
rospy.init_node('manipulation_task')
sm = smach.StateMachine(outcomes=['succeeded', 'aborted', 'preempted'])
with sm:
sm1 = getWaitDoorMachine()
smach.StateMachine.add('WAIT_DOOR', sm1, transitions={
'succeeded': 'GOTO_1',
'error': 'aborted',
})
sm2 = getGoToFixedMachine('pickup')
smach.StateMachine.add('GOTO_1', sm2, transitions={
'succeeded': 'PICKUP',
'aborted': 'aborted',
'preempted': 'preempted'
})
sm3 = getPickUpMachine()
smach.StateMachine.add('PICKUP', sm3, transitions={
'succeeded': 'GOTO_2',
'error': 'aborted'
})
sm4 = getGoToFixedMachine('handover')
smach.StateMachine.add('GOTO_2', sm4, transitions={
'succeeded': 'HANDOVER',
'aborted': 'aborted',
'preempted': 'preempted'
def average(counts):
return reduce(operator.add, counts) / len(counts)
if __name__ == '__main__':
rospy.init_node('object_counter')
sm = smach.StateMachine(outcomes=['succeeded', 'aborted', 'preempted'])
with sm:
sm1 = getWaitDoorMachine()
smach.StateMachine.add('WAIT_DOOR',
sm1,
transitions={
'succeeded': 'GOTO_X',
'error': 'aborted',
})
smx = getGoToFixedMachine('pass')
smach.StateMachine.add('GOTO_X',
smx,
transitions={
'succeeded': 'GOTO_1',
'aborted': 'aborted',
'preempted': 'preempted'
})
sm2 = getGoToFixedMachine('observation')
smach.StateMachine.add('GOTO_1',
sm2,
transitions={
'succeeded': 'COUNT_OBJECTS',
'aborted': 'aborted',
'preempted': 'preempted'
})
from butia_behavior.machines import getWaitDoorMachine, getGoToFixedMachine
from butia_behavior.states import SaySomethingState
from butia_behavior.states import WaitTopicState
if __name__ == '__main__':
rospy.init_node('inspection')
sm = smach.StateMachine(outcomes=['succeeded', 'aborted', 'preempted'])
with sm:
sm1 = getWaitDoorMachine()
smach.StateMachine.add('WAIT_DOOR',
sm1,
transitions={
'succeeded': 'GOTO_1',
'error': 'aborted',
})
sm2 = getGoToFixedMachine('examination')
smach.StateMachine.add('GOTO_1',
sm2,
transitions={
'succeeded': 'WAIT_HELLO',
'aborted': 'aborted',
'preempted': 'preempted'
})
smach.StateMachine.add('WAIT_HELLO',
WaitTopicState('butia_speech/bhd/detected'),
transitions={
'succeeded': 'GOTO_2',
'error': 'aborted'
})
sm3 = getGoToFixedMachine('exit')
smach.StateMachine.add('GOTO_2',
import rospy
import smach
from butia_behavior.machines import getWaitDoorMachine, getGoToFixedMachine, getGoToGripperMachine, getOpenGripperMachine, getCloseGripperMachine
from butia_behavior.states import WaitTopicState, WaitTimeState, SaySomethingState
if __name__ == '__main__':
rospy.init_node('garbage_node')
sm = smach.StateMachine(outcomes=['succeeded', 'aborted', 'preempted'])
with sm:
smach.StateMachine.add('WAIT_DOOR',
getWaitDoorMachine(),
transitions={
'succeeded': 'GOTO_1',
'error': 'aborted'
})
sm1 = getGoToFixedMachine('garbage1')
smach.StateMachine.add('GOTO_1',
sm1,
transitions={
'succeeded': 'GOTO_GRIPPER_INITIAL',
'aborted': 'aborted',
'preempted': 'preempted'
})
smach.StateMachine.add('GOTO_GRIPPER_INITIAL',
getGoToGripperMachine(0),
transitions={
'succeeded': 'OPEN_GRIPPER',
'error': 'aborted'
})
smach.StateMachine.add('OPEN_GRIPPER',
getOpenGripperMachine(),
def average(counts):
return reduce(operator.add, counts) / len(counts)
if __name__ == '__main__':
rospy.init_node('object_counter')
sm = smach.StateMachine(outcomes=['succeeded', 'aborted', 'preempted'])
with sm:
sm1 = getWaitDoorMachine()
smach.StateMachine.add('WAIT_DOOR',
sm1,
transitions={
'succeeded': 'GOTO_1',
'error': 'aborted',
})
sm2 = getGoToFixedMachine('shelf')
smach.StateMachine.add('GOTO_1',
sm2,
transitions={
'succeeded': 'COUNT_OBJECTS',
'aborted': 'aborted',
'preempted': 'preempted'
})
sm3 = getClassesCountMachine('butia_vision/or/object_recognition', 20,
max)
smach.StateMachine.add('COUNT_OBJECTS',
sm3,
transitions={
'succeeded': 'PREPARE_SPEECH',
'error': 'aborted'
})
