class LandState(smach.State):
def __init__(self, wait_time=20):
smach.State.__init__(self, outcomes=['success', 'fail'])
self.commander = HydrusCommander()
self.wait_time = wait_time
def execute(self, userdata):
self.commander.land()
rospy.sleep(self.wait_time)
return 'success'
class LandingStateWithOpenJoints(smach.State):
def __init__(self, wait_time=20):
smach.State.__init__(self, outcomes=['success', 'fail'])
self.commander = HydrusCommander()
def execute(self, userdata):
self.commander.open_joints()
rospy.sleep(9.0)
self.commander.land()
rospy.sleep(self.wait_time)
return 'success'