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'
})
