class RecoverableMoveBase(smach.StateMachine, Loggable):
def __init__(self):
smach.StateMachine.__init__(self,
outcomes=['succeeded',
'failure',
'preempted'],
input_keys=['goal_pose'])
self.userdata.n_move_base_fails = 0
self._move_base_action = MoveBaseActionState()
self._recover_move_base = RecoverMoveBase()
with self:
smach.StateMachine.add('MOVE_BASE',
self._move_base_action,
transitions={'succeeded': 'succeeded',
'aborted': 'RECOVER_MOVE_BASE',
'preempted': 'preempted'}
)
smach.StateMachine.add('RECOVER_MOVE_BASE',
self._recover_move_base,
transitions={'succeeded': 'MOVE_BASE',
'failure': 'failure'} )
def execute(self, userdata=smach.UserData()):
outcome = smach.StateMachine.execute(self, userdata)
if outcome == 'succeeded':
self.get_logger().log_waypoint_success(userdata.goal_pose)
elif outcome == 'failure':
self.get_logger().log_waypoint_fail(userdata.goal_pose)
return outcome
def set_patroller_thresholds(self, max_move_base_recovery_attempts):
self._recover_move_base.set_patroller_thresholds(max_move_base_recovery_attempts)
def __init__(self):
smach.StateMachine.__init__(
self,
outcomes=['succeeded', 'failure', 'preempted'],
input_keys=['goal_pose'])
self.userdata.n_move_base_fails = 0
self._move_base_action = MoveBaseActionState()
self._recover_move_base = RecoverMoveBase()
with self:
smach.StateMachine.add('MOVE_BASE',
self._move_base_action,
transitions={
'succeeded': 'succeeded',
'aborted': 'RECOVER_MOVE_BASE',
'preempted': 'preempted'
})
smach.StateMachine.add('RECOVER_MOVE_BASE',
self._recover_move_base,
transitions={
'succeeded': 'MOVE_BASE',
'failure': 'failure'
})
class RecoverableMoveBase(smach.StateMachine, Loggable):
def __init__(self):
smach.StateMachine.__init__(
self,
outcomes=['succeeded', 'failure', 'preempted'],
input_keys=['goal_pose'])
self.userdata.n_move_base_fails = 0
self._move_base_action = MoveBaseActionState()
self._recover_move_base = RecoverMoveBase()
with self:
smach.StateMachine.add('MOVE_BASE',
self._move_base_action,
transitions={
'succeeded': 'succeeded',
'aborted': 'RECOVER_MOVE_BASE',
'preempted': 'preempted'
})
smach.StateMachine.add('RECOVER_MOVE_BASE',
self._recover_move_base,
transitions={
'succeeded': 'MOVE_BASE',
'failure': 'failure'
})
def execute(self, userdata=smach.UserData()):
outcome = smach.StateMachine.execute(self, userdata)
if outcome == 'succeeded':
self.get_logger().log_waypoint_success(userdata.goal_pose)
elif outcome == 'failure':
self.get_logger().log_waypoint_fail(userdata.goal_pose)
return outcome
def set_patroller_thresholds(self, max_move_base_recovery_attempts):
self._recover_move_base.set_patroller_thresholds(
max_move_base_recovery_attempts)
def __init__(self):
smach.StateMachine.__init__(self,
outcomes=['succeeded',
'failure',
'preempted'],
input_keys=['goal_pose'])
self.userdata.n_move_base_fails = 0
self._move_base_action = MoveBaseActionState()
self._recover_move_base = RecoverMoveBase()
with self:
smach.StateMachine.add('MOVE_BASE',
self._move_base_action,
transitions={'succeeded': 'succeeded',
'aborted': 'RECOVER_MOVE_BASE',
'preempted': 'preempted'}
)
smach.StateMachine.add('RECOVER_MOVE_BASE',
self._recover_move_base,
transitions={'succeeded': 'MOVE_BASE',
'failure': 'failure'} )
