bs0 = RobotPatrolArea0("robot_2/move_base/switch0","robot_2_partrol0_node") bs1 = RobotPatrolArea1("robot_2/move_base/switch1","robot_2_partrol1_node") bs2 = RobotPatrolArea2("robot_2/move_base/switch2","robot_2_partrol2_node") bs0.start() bs1.start() bs2.start() mb0 = MotivationalBehavior('r2_mb0',2,0,'robot2_switch0_patrol/activate')#nodename,robotid,behaviorid mb0.set_fast(10) mb0.enable_random_inc() mb0.set_sensory_feedback(1) mb0.set_sensor('robot_2/patrol_sensory_feedback') mb0.start() s0 = Switch('robot2_switch0_patrol','robot_2/move_base/switch0/goal',move_base_msgs.msg.MoveBaseActionGoal,'robot_2/move_base/goal','/robot_2/move_base/result', move_base_msgs.msg.MoveBaseActionResult, '/robot_2/move_base/switch0/result')#nodename,subtopic,type,pubtopic s0.add_action('robot_2/move_base/switch0','robot_2/move_base') s0.start() mb1 = MotivationalBehavior('r2_mb1',2,1,'robot2_switch1_patrol/activate')#nodename,robotid,behaviorid mb1.set_fast(10) mb1.enable_random_inc() mb1.set_sensory_feedback(1) mb1.set_sensor('robot_2/patrol_sensory_feedback') mb1.start() s1 = Switch('robot2_switch1_patrol','robot_2/move_base/switch1/goal',move_base_msgs.msg.MoveBaseActionGoal,'robot_2/move_base/goal','/robot_2/move_base/result', move_base_msgs.msg.MoveBaseActionResult, '/robot_2/move_base/switch1/result')#nodename,subtopic,type,pubtopic s1.add_action('robot_2/move_base/switch1','robot_2/move_base') s1.start() mb2 = MotivationalBehavior('r2_mb2',2,2,'robot2_switch2_patrol/activate')#nodename,robotid,behaviorid mb2.set_fast(20) mb2.enable_random_inc()
bs2.start() mb0 = MotivationalBehavior( 'r0_mb0', 0, 0, 'robot0_switch0_patrol/activate') #nodename,robotid,behaviorid mb0.set_fast(20) mb0.enable_random_inc() mb0.set_sensory_feedback(1) mb0.set_sensor('robot_0/patrol_sensory_feedback') mb0.start() s0 = Switch( 'robot0_switch0_patrol', 'robot_0/move_base/switch0/goal', move_base_msgs.msg.MoveBaseActionGoal, 'robot_0/move_base/goal', '/robot_0/move_base/result', move_base_msgs.msg.MoveBaseActionResult, '/robot_0/move_base/switch0/result') #nodename,subtopic,type,pubtopic s0.add_action('robot_0/move_base/switch0', 'robot_0/move_base') s0.start() mb1 = MotivationalBehavior( 'r0_mb1', 0, 1, 'robot0_switch1_patrol/activate') #nodename,robotid,behaviorid mb1.set_fast(10) mb1.enable_random_inc() mb1.set_sensory_feedback(1) mb1.set_sensor('robot_0/patrol_sensory_feedback') mb1.start() s1 = Switch( 'robot0_switch1_patrol', 'robot_0/move_base/switch1/goal', move_base_msgs.msg.MoveBaseActionGoal, 'robot_0/move_base/goal', '/robot_0/move_base/result', move_base_msgs.msg.MoveBaseActionResult, '/robot_0/move_base/switch1/result') #nodename,subtopic,type,pubtopic