def __init__(self, runner):
RGOAPRunnerState.__init__(self, runner)
self._goal_generators = [TaskPosesGoalGenerator(),
RandomGoalGenerator(),
HectorExplorationGoalGenerator()]
self._static_goals = rgoap_subclasses.get_all_goals(self.runner.memory)
self._goal_poses_pub = rospy.Publisher('/task_planning/goal_poses', PoseArray, latch=True)
def __init__(self, runner):
RGOAPRunnerState.__init__(self, runner)
def __init__(self, runner):
RGOAPRunnerState.__init__(self, runner,
input_keys=['x', 'y', 'yaw'],
output_keys=['user_input'])