def __init__(self, pose, frame, usability):
if frame != '/map' and frame != 'map':
if MoveToPoseGoal.tl is None:
MoveToPoseGoal.tl = tf.TransformListener()
rospy.sleep(1)
pose_stamped = PoseStamped()
pose_stamped.header.frame_id = frame
pose_stamped.pose = pose
#tf.Transformer().waitForTransform('/map', frame)
pose_stmpd_in_map = MoveToPoseGoal.tl.transformPose('/map', pose_stamped)
pose = pose_stmpd_in_map.pose
Goal.__init__(self, [Precondition(Condition.get('robot.pose'), pose)], usability)
def __init__(self, pose, frame, usability):
if frame != '/map' and frame != 'map':
if MoveToPoseGoal.tl is None:
MoveToPoseGoal.tl = tf.TransformListener()
rospy.sleep(1)
pose_stamped = PoseStamped()
pose_stamped.header.frame_id = frame
pose_stamped.pose = pose
#tf.Transformer().waitForTransform('/map', frame)
pose_stmpd_in_map = MoveToPoseGoal.tl.transformPose(
'/map', pose_stamped)
pose = pose_stmpd_in_map.pose
Goal.__init__(self, [Precondition(Condition.get('robot.pose'), pose)],
usability)
def testRunner(self):
memory = self.runner.memory
Condition.add(MemoryCondition(memory, 'awareness', 0))
Condition.add(MemoryCondition(memory, 'arm_can_move', True))
self.runner.actions.add(LookAroundAction())
print self.runner.actions
goal = Goal([Precondition(Condition.get('awareness'), 2)])
self.runner.update_and_plan_and_execute(goal)
runner.memory.set_value('memory.reminded_myself', 333)
rospy.loginfo("Waiting to let conditions represent reality...")
rospy.loginfo(
"Remember to start topic publishers so conditions make sense instead of None!"
)
rospy.sleep(2)
Condition.initialize_worldstate(runner.worldstate)
rospy.loginfo("worldstate now is: %s", runner.worldstate)
runner.actions.add(
MemoryChangeVarAction(runner.memory, 'memory.reminded_myself', 333,
555))
goal = Goal([
Precondition(Condition.get('robot.pose'),
position_tuple_to_pose(1, 0, 0)),
Precondition(Condition.get('memory.reminded_myself'), 555)
])
start_node = runner.update_and_plan(goal, tries=2, introspection=True)
rospy.loginfo("start_node: %s", start_node)
if start_node is None:
rospy.logwarn("No plan found! Check your ROS graph!")
else:
runner.execute_as_smach(start_node, introspection=True)
rospy.sleep(20)
def __init__(self):
Action.__init__(self,
[Precondition(Condition.get('robot.bumpered'), True)],
[Effect(Condition.get('robot.bumpered'), False)])
def run(self, next_worldstate):
print '%s: resetting bumper..' % self.__class__
if __name__ == "__main__":
runner = Runner()
Condition.add(MemoryCondition(runner.memory, 'robot.bumpered', True))
runner.actions.add(SymmetricAction())
Condition.initialize_worldstate(runner.worldstate)
print 'worldstate now is: ', runner.worldstate
goal = Goal([Precondition(Condition.get('robot.bumpered'), False)])
start_node = runner.update_and_plan(goal, introspection=True)
print 'start_node: ', start_node
if start_node is None:
print 'No plan found! Check your ROS graph!'
else:
runner.execute(start_node)
def testStateWrapperAction(self):
# The in-value is translated into the SMACHStateWrapperAction
# and checked inside the wrapped state to check data translation
# to the wrapped state.
NUMBER_IN = 123
# The out-value is translated into the SMACHStateWrapperAction
# and out of it again to check data translation from the wrapped
# state and also the next_worldstate parameter.
NUMBER_OUT = 456
Condition.add(
MemoryCondition(self.runner.memory, 'memory.in', NUMBER_IN))
Condition.add(MemoryCondition(self.runner.memory, 'memory.out', -1))
class ValueLooperState(State):
def __init__(self):
State.__init__(self, ['succeeded', 'aborted'],
input_keys=['i', 'to_loop'],
output_keys=['o'])
def execute(self, userdata):
print "%s found 'i' in userdata to be %s.." % (
self.__class__.__name__, userdata.i)
if userdata.i == NUMBER_IN:
print "..which is correct"
userdata.o = userdata.to_loop
#return 'succeeded' # will only work when using rgoap_ros.SMACHRunner
else:
print "..which is not correct!"
#return 'aborted' # see above
class TranslateAction(SMACHStateWrapperAction):
def __init__(self):
SMACHStateWrapperAction.__init__(self, ValueLooperState(), [
Precondition(Condition.get('memory.in'), NUMBER_IN),
Precondition(Condition.get('memory.out'), -1)
], [Effect(Condition.get('memory.out'), NUMBER_OUT)])
def translate_worldstate_to_userdata(self, next_worldstate,
userdata):
userdata.i = next_worldstate.get_condition_value(
Condition.get('memory.in'))
userdata.to_loop = next_worldstate.get_condition_value(
Condition.get('memory.out'))
def translate_userdata_to_worldstate(self, userdata,
next_worldstate):
print "FIXME: translation from userdata does not work"
# FIXME: translation from userdata does not work
# # memory.set_value('memory.out', userdata.o)
# next_worldstate.set_condition_value(Condition.get('memory.out'), userdata.o)
self.runner.actions.add(TranslateAction())
goal = Goal([
Precondition(Condition.get('memory.out'), NUMBER_OUT),
# memory.in is added to goal to be available in goal/next_worldstate
Precondition(Condition.get('memory.in'), NUMBER_IN)
])
plan = self.runner.update_and_plan(goal)
print "plan:", plan
self.assertIsNotNone(plan, "plan should not be None")
success = self.runner.execute(plan)
print "success: ", success
self.assertTrue(success, "executing plan was not successful")
# self.assertEqual(outcome, 'succeeded', "executing plan did not return succeeded")
mem_out = self.runner.memory.get_value('memory.out')
print "memory.out = %s" % mem_out
self.assertEqual(mem_out, NUMBER_OUT,
"out variable in memory is not changed successfully")
def __init__(self):
Goal.__init__(self, [Precondition(Condition.get('awareness'), 1)], 0.6)
def __init__(self):
Goal.__init__(self, [Precondition(Condition.get('awareness'), 1)], 0.6)
