class ControlMode(State):
def __init__(self, mode):
State.__init__(self, outcomes=['success'])
self.mode = mode
self.control_mode = ControllerMode()
def execute(self, userdata):
# change control mode
self.control_mode.change_control_mode_client(self.mode)
return 'success'
class ControlMode(State):
def __init__(self, mode):
State.__init__(self, ['succeeded', 'aborted', 'preempted'])
self.mode = mode
self.control_mode = ControllerMode()
def execute(self, userdata):
# change control mode
self.control_mode.change_control_mode_client(self.mode)
rospy.loginfo('changed DP control mode to: ' + str(self.mode) + '!')
return 'succeeded'
def __init__(self, mode):
State.__init__(self, ['succeeded', 'aborted', 'preempted'])
self.mode = mode
self.control_mode = ControllerMode()
def __init__(self, mode):
State.__init__(self, outcomes=['success'])
self.mode = mode
self.control_mode = ControllerMode()