def main():
from bender_skills import robot_factory
rospy.init_node("crowd_information")
robot = robot_factory.build(
[
"facial_features",
# "AI",
"person_detector",
# "knowledge",
"tts"
],
core=False)
robot.check()
sm = getInstance(robot, True)
ud = smach.UserData()
ud.features = ['gender', 'age']
# introspection server
sis = IntrospectionServer('crowd_information', sm, '/CROWD_SM')
sis.start()
outcome = sm.execute(ud)
sis.stop()
def main():
# robot = robot_factory.build(["tts", "ltm"], core=False)
# robot.say("Hello, i am bender")
# robot.tts.wait_until_done()
robot = robot_factory.build(["ltm"], core=False)
# TODO: Armar historia para mostrar
review_runner("where", robot, where_review)
review_runner("when", robot, when_review)
review_runner("entity", robot, entity_review)
review_runner("stream", robot, stream_review)
review_runner("episode", robot, episode_review)
smach.StateMachine.add('GIVE_ORDER',
build_give_order_sm(robot),
transitions={'succeeded': 'succeeded'})
return sm
if __name__ == '__main__':
try:
import smach_ros
from bender_skills import robot_factory
rospy.init_node('ltm_demo__coffee_session')
robot = robot_factory.build(["joy", "tts"], core=False)
robot.check()
# build machine
sm = getInstance(robot)
ltm.setup(sm)
# smach introspection server
sis = smach_ros.IntrospectionServer('ltm_demo__coffee_session_sis', sm,
'/SM_LTM_DEMO_HUMAN_SESSION')
sis.start()
# execute machine
sm.execute()
# Wait for ctrl-c to stop the application
###
### Skills Necesarias para la Prueba
###
skills_base = [ #"base",
#"waving_deep",
"tts",
# "AI",
"audition",
# "report_generator",
"facial_features",
# "person_detection",
#"knowledge",
# "neck",
# "sound_localization",
"face"
]
#constructor para bender
# if os.environ['UCHILE_ROBOT']=="bender":
# skills = skills_base+only_bender
robot = robot_factory.build(skills_base, core=False)
robot.check()
sm = getInstance(robot)
sis = smach_ros.IntrospectionServer('CROWDSESSION_SM', sm, '/CROWDSESSION')
sis.start()
outcome = sm.execute()
sis.stop()
smach.StateMachine.add('GO_HOME',
advanced.GoHomeSafe(robot, arms),
transitions={'succeeded': 'succeeded'},
remapping={
'joint_goal': 'home_safe',
'side': 'side'
})
smach.StateMachine.add('FAILED',
advanced.GoMoveit(robot, arms),
transitions={'succeeded': 'failed'},
remapping={
'trayectory_name': 'trayectory_name_pos',
'error_code': 'error_code'
})
return sm
if __name__ == "__main__":
rospy.init_node("sm_arm")
robot = robot_factory.build([
'l_gripper', 'r_gripper', 'l_arm', 'r_arm', "neck",
"object_recognition", "octomap"
],
core=False)
sm = getInstance(robot)
sm.execute()
smach.StateMachine.add('MANIPULATION',
manipulate.getInstance(robot),
transitions={
'succeeded': 'RESTART_IT',
'aborted': 'aborted'
},
remapping={
'object': 'object',
'side': 'side',
'selected_pregrasp': 'selected_pregrasp',
'selected_grasp': 'selected_grasp',
'pos_grasp': 'pos_grasp'
})
smach.StateMachine.add('RESTART_IT',
RestartIt(),
transitions={'succeeded': 'succeeded'})
return sm
if __name__ == "__main__":
rospy.init_node("sm_arm")
robot = robot_factory.build([
'r_arm', 'r_gripper', 'l_arm', 'l_gripper', "neck", "tts", "audition",
"octomap", "capability_map", "object_recognition", "marker"
],
core=False)
sm = getInstance(robot)
sm.execute()
transitions={
'succeeded': 'succeeded',
'aborted': 'aborted'
},
remapping={
'posestamped': 'posestamped',
'name': 'name',
'limb_side': 'arm_side'
})
# smach.StateMachine.add('OPEN_GRIPPER', OpenGripper(robot),
# transitions = {'succeeded':'CLOSE_GRIPPER'},
# remapping = {'lr_side':'gripper_side','effort':'effort'}
# )
# smach.StateMachine.add('CLOSE_GRIPPER', GrabGripper(robot),
# transitions = {'succeeded':'succeeded'},
# remapping = {'lr_side':'gripper_side','effort':'effort'}
# )
return sm
if __name__ == "__main__":
rospy.init_node("sm_arm")
robot = robot_factory.build(
['l_gripper', 'r_gripper', 'l_arm', 'r_arm', 'arm'], core=False)
sm = getInstance(robot)
sm.execute()