def __init__(self):
rospy.loginfo("Starting '%s'." % ACTION_ID)
super(ROSPlanFeedbackServer, self).__init__()
self._sps = PNPSimplePluginServer(ACTION_ID,
ROSPlanAction,
self.execute_cb,
auto_start=False)
self.client = SimpleActionClient("/kcl_rosplan/start_planning",
PlanAction)
self.client.wait_for_server()
self.pub = rospy.Publisher("/kcl_rosplan/action_feedback",
ActionFeedback,
queue_size=1)
self.state_pub = rospy.Publisher("~current_state",
String,
queue_size=1,
latch=False)
self.state_pub.publish("")
self.commands_pub = rospy.Publisher("/kcl_rosplan/planning_commands",
String,
queue_size=1)
self.f = {
END: self.set_succeeded,
START: self.set_enabled,
FAIL: self.set_failed
}
self._sps.start()
rospy.loginfo("Started '%s'." % ACTION_ID)
def __init__(self, name):
rospy.loginfo("Starting %s ..." % name)
self.pub = rospy.Publisher("/cmd_vel", Twist, queue_size=10)
self._as = PNPSimplePluginServer(name,
RouteDescriptionAction,
execute_cb=self.execute_cb,
auto_start=False)
self.listener = tf.TransformListener()
client = MongoClient(rospy.get_param("~db_host", "localhost"),
int(rospy.get_param("~db_port", 62345)))
rospy.loginfo("Creating move_base client")
self.move_client = SimpleActionClient("/move_base", MoveBaseAction)
self.move_client.wait_for_server()
rospy.loginfo("Move_base client connected")
rospy.loginfo("Creating tracker client")
self.start_client = SimpleActionClient("/start_tracking_person",
TrackPersonAction)
self.start_client.wait_for_server()
self.stop_client = SimpleActionClient("/stop_tracking_person",
TrackPersonAction)
self.stop_client.wait_for_server()
rospy.loginfo("Tracker client connected")
self.db_name = rospy.get_param("~db_name", "semantic_map")
self.collection_name = rospy.get_param("~collection_name", "idea_park")
self.semantic_map_name = rospy.get_param("~semantic_map_name")
self._as.start()
self.db = client[self.db_name]
self.tts = rospy.Publisher("/speech", String, queue_size=1)
self.joints = rospy.Publisher("/joint_angles",
JointAnglesWithSpeed,
queue_size=10)
rospy.loginfo("... done")
def __init__(self, name):
rospy.loginfo("Starting %s ..." % name)
self._ps = PNPSimplePluginServer(name=name,
ActionSpec=FindInteractantAction,
execute_cb=self.execute_cb,
auto_start=False)
self._ps.start()
rospy.loginfo("... done")
def __init__(self, name):
rospy.loginfo("Starting %s ..." % name)
self._as = PNPSimplePluginServer(name,
FinishRouteDescriptionAction,
execute_cb=self.execute_cb,
auto_start=False)
self._as.start()
rospy.loginfo("... done")
def __init__(self, name):
rospy.loginfo("Starting %s ..." % name)
self.predicate = rospy.get_param("~predicate", "human_exists")
self._ps = PNPSimplePluginServer(name=name,
ActionSpec=CheckHumanExistsAction,
execute_cb=self.execute_cb,
auto_start=False)
self._ps.start()
rospy.loginfo("... done")
def __init__(self, name):
rospy.loginfo("Starting '%s'." % name)
self._ps = PNPSimplePluginServer(name=name,
ActionSpec=StringAction,
execute_cb=self.execute_cb,
auto_start=False)
self.pub = rospy.Publisher("/speech", String, queue_size=1)
self._ps.start()
rospy.loginfo("Done")
def __init__(self, name):
rospy.loginfo("Starting '%s'." % name)
self._ps = PNPSimplePluginServer(name=name,
ActionSpec=StringAction,
execute_cb=self.execute_cb,
auto_start=False)
self._ps.register_preempt_callback(self.preempt_cb)
self.client = SimpleActionClient('topological_navigation',
GotoNodeAction)
self.client.wait_for_server()
self._ps.start()
rospy.loginfo("Done")
def __init__(self, name):
rospy.loginfo("Starting '%s'." % name)
self._ps = PNPSimplePluginServer(name=name,
ActionSpec=StringAction,
execute_cb=self.execute_cb,
auto_start=False)
self.listener = tf.TransformListener()
self.pub = rospy.Publisher("/move_base_simple/goal",
PoseStamped,
queue_size=1)
self._ps.start()
rospy.loginfo("Done")
def __init__(self, name):
rospy.loginfo("Starting %s ..." % name)
super(StartStopPeopleTracking, self).__init__()
self.listener = tf.TransformListener()
self.id = 0
self.target_frame = "base_link"
self._ps = PNPSimplePluginServer(
name=name,
ActionSpec=TrackPersonAction,
execute_cb=self.start_cb if "start" in name else self.stop_cb,
auto_start=False)
self._ps.start()
rospy.loginfo("... done")
def __init__(self, name):
rospy.loginfo("Starting %s ..." % name)
self._ps = PNPSimplePluginServer(
name=name,
ActionSpec=FindInteractantAction,
execute_cb=self.execute_cb,
auto_start=False
)
rospy.loginfo("Creating tracker client")
self.start_client = SimpleActionClient("/start_tracking_person", TrackPersonAction)
self.start_client.wait_for_server()
rospy.loginfo("Tracker client connected")
self._ps.start()
rospy.loginfo("... done")
def __init__(self, name):
rospy.loginfo("Starting %s ..." % name)
self.listener = tf.TransformListener()
self.target_frame = rospy.get_param("~target_frame", "base_link")
with open(rospy.get_param("~config_file"), 'r') as f:
self.distance = yaml.load(f)["distances"]
self.move_client = SimpleActionClient("move_base", MoveBaseAction)
self._ps = PNPSimplePluginServer(
name=name,
ActionSpec=QualitativeMovePepperAction,
execute_cb=self.execute_cb,
auto_start=False)
rospy.loginfo("Creating tracker client")
self.start_client = SimpleActionClient("/start_tracking_person",
TrackPersonAction)
self.start_client.wait_for_server()
rospy.loginfo("Tracker client connected")
self._ps.start()
rospy.loginfo("... done")
def __init__(self, name):
rospy.loginfo("Starting %s ..." % name)
self.texts = {"hello": "Hello, I am pepper!"}
self.predicate = rospy.get_param("~predicate", "said")
rospy.loginfo("Starting dialogue client")
self.client = SimpleActionClient("/dialogue_start", dialogueAction)
rospy.loginfo("Waiting for dialogue client")
self.client.wait_for_server()
rospy.loginfo("Dialogue client started")
self.pub = rospy.Publisher("/animated_speech", String, queue_size=10)
self._ps = PNPSimplePluginServer(name=name,
ActionSpec=SpeakAction,
execute_cb=self.execute_cb,
auto_start=False)
rospy.loginfo("Creating tracker client")
self.start_client = SimpleActionClient("/start_tracking_person",
TrackPersonAction)
self.start_client.wait_for_server()
rospy.loginfo("Tracker client connected")
self._ps.start()
rospy.loginfo("... done")
def __init__(self, name):
rospy.loginfo("Starting %s ..." % name)
self._as = PNPSimplePluginServer(
name,
MoveToWaypointAction,
execute_cb=self.execute_cb,
auto_start=False
)
self.msg_store = MessageStoreProxy(
database=rospy.get_param("~db_name", "semantic_map"),
collection=rospy.get_param("~collection_name", "waypoints")
)
rospy.loginfo("Creating tracker client")
self.stop_client = SimpleActionClient("/stop_tracking_person", TrackPersonAction)
self.stop_client.wait_for_server()
rospy.loginfo("Tracker client connected")
self.client = SimpleActionClient("move_base", MoveBaseAction)
rospy.loginfo("Waiting for move_base client.")
self.client.wait_for_server()
self._as.start()
rospy.loginfo("... done")