def __init__(self, grammar, enabled):
"""Constructor for GrammarState.
@type grammar: string
@param grammar: The grammar name that you want enabled or disable.
@type enabled: boolean
@param enabled: If False, 0 or None, the grammar will be disabled. Enabled otherwise.
"""
def asr_request_cb(userdata, old_request):
if enabled:
print "ASR: Enabling grammar '%s'" % grammar
else:
print "ASR: Disabling grammar '%s'" % grammar
update = asrupdate()
update.enable_grammar = grammar
update.active = bool(enabled)
return update
ServiceState.__init__(self,
GRAMMAR_ACTION_NAME, recognizerService,
request_cb=asr_request_cb)
def __init__(self, service_name, service_spec, **args):
"""
Init method also initializes timer and executions counter
"""
ServiceState.__init__(self, service_name = service_name, service_spec = service_spec, **args)
self.total_time = 0
self.num_executions = 0
def __init__(self, leftArmEnabled=True, rightArmEnabled=True):
ServiceState.__init__(self,
'/enable_arms_walking_srv',
SetArmsEnabled,
request=SetArmsEnabledRequest(
left_arm=leftArmEnabled,
right_arm=rightArmEnabled))
def __init__(self, frame='/map'):
ServiceState.__init__(
self,
'move_base/make_plan',
GetPlan,
input_keys=['x', 'y', 'yaw', 'start_x', 'start_y', 'start_yaw'],
request_cb=self.__request_cb)
self.frame = frame
def __init__(self): # Class constructor ServiceState.__init__(self, '/nao_shopping_list/checkObjects', checkObjects, outcomes=['succeeded'], input_keys=['shopping_list'], output_keys=['shopping_list'], response_cb=self.shopping_list_response_cb)
def __init__(self, service, name_template="capture%03d.png"):
ServiceState.__init__(self,
service,
SaveFile,
request_cb=self._request_cb,
response_cb=self._response_cb)
self._name_template = name_template
self._n = 0
def __init__(self, frame="/map"):
ServiceState.__init__(
self,
"move_base/make_plan",
GetPlan,
input_keys=["x", "y", "yaw", "start_x", "start_y", "start_yaw"],
request_cb=self.__request_cb,
)
self.frame = frame
def __init__(self):
def resp_cb(ud, response):
ud.resp_text = response.question_guess_response
if response.is_guess:
return 'game_finished'
return 'continue_game'
ServiceState.__init__(self, '/akinator_srv', AkinatorQA,
output_keys=['resp_text'], request_slots=['question_response'],
outcomes=['game_finished', 'continue_game'], response_cb=resp_cb)
def __init__(self):
event = BehaviourEventRequest()
event.name = 'presentToPerson'
#event.name = 'say'
#arg = BehaviourArgument()
#arg.key = 'text'
#arg.value = 'Hello World'
#event.arguments = [arg,]
ServiceState.__init__(self, '/behaviour', BehaviourEvent, request = event)
def __init__(self):
service = '/clopema_planner/grasp_it'
ServiceState.__init__(self,
service,
ClopemaGraspIt,
request_slots=[
'ik_link', 'poses', 'frame_id',
'offset_minus', 'offset_plus'
],
response_cb=self.result_cb,
output_keys=['trajectory'])
def __init__(self, objective=None):
# Private attributes
input_keys = []
if not objective:
input_keys = ['objective']
self._objective = None
elif not isinstance(objective, Pose2D):
self._objective = Pose2D(objective[0], objective[1], objective[2])
else:
self._objective = objective
# Class constructor
ServiceState.__init__(self, '/cmd_pose_srv', CmdPoseService, outcomes=['succeeded'], request_cb=self.move_to_request_cb, input_keys=input_keys)
def __init__(self):
service = '/clopema_planner/grasp_from_table'
ServiceState.__init__(self,
service,
ClopemaGraspFromTable,
request_slots=[
'ik_link', 'poses', 'frame_id', 'table_desk',
'offset_minus', 'offset_plus',
'offset_table_plus', 'offset_table_minus',
'grasping_angle'
],
response_cb=self.result_cb,
output_keys=['trajectory'])
def __init__(self, twist_msg):
self._twist = twist_msg
input_keys = []
if not twist_msg:
input_keys = ['velocity']
# Method to define the request
def walk_request_cb(ud, request):
if (not self._twist):
self._twist = ud.velocity
walk_request = CmdVelServiceRequest()
walk_request.twist = self._twist
return walk_request
ServiceState.__init__(self, '/cmd_vel_srv', CmdVelService, input_keys=input_keys, request_cb=walk_request_cb)
def __init__(self, objective=None):
# Private attributes
input_keys = []
if not objective:
input_keys = ['objective']
self._objective = None
elif not isinstance(objective, Pose2D):
self._objective = Pose2D(objective[0], objective[1], objective[2])
else:
self._objective = objective
# Class constructor
ServiceState.__init__(self,
'/cmd_pose_srv',
CmdPoseService,
outcomes=['succeeded'],
request_cb=self.move_to_request_cb,
input_keys=input_keys)
def __init__(self, twist_msg):
self._twist = twist_msg
input_keys = []
if not twist_msg:
input_keys = ['velocity']
# Method to define the request
def walk_request_cb(ud, request):
if (not self._twist):
self._twist = ud.velocity
walk_request = CmdVelServiceRequest()
walk_request.twist = self._twist
return walk_request
ServiceState.__init__(self,
'/cmd_vel_srv',
CmdVelService,
input_keys=input_keys,
request_cb=walk_request_cb)
def __init__(self):
ServiceState.__init__(self, '/RH/integration/MoveRobotRandom', RobotIntegration, input_keys=['noImages'],
request_slots=['arm'], response_cb=self._res_cb, response_slots=['numPos', 'succeed'])
self.counter = 0;
def __init__(self):
ServiceState.__init__(self, '/stop_walk_srv', Empty)
def __init__(self):
ServiceState.__init__(self, '/stop_walk_srv', Empty)
def __init__(self):
ServiceState.__init__(self, '/RH/calibration/captureHandEye', HandEyeCalibration, request_slots=['doIt'],
response_cb=self._res_cb, response_slots=['status_message', 'success'])
self.counter = 1;
def __init__(self):
ServiceState.__init__(self, '/stop_recognition', Empty)
def __init__(self):
ServiceState.__init__(self, '/clopema_planner/linear_interpolation_dual', ClopemaLinearInterpolationDual(),
request_cb=self._req_cb, input_keys=['ik_link_1', 'poses_1', 'ik_link_2', 'poses_2'],
response_cb=self._res_cb, output_keys=['trajectory'])
def __init__(self):
ServiceState.__init__(self, '/clopema_planner/joint_interpolation', ClopemaJointInterpolation(),
request_cb=self._req_cb, input_keys=['robot', 'goals'],
response_cb=self._res_cb, output_keys=['trajectory'])
def __init__(self):
ServiceState.__init__(self, '/RH/calibration/cameraCalibration', CameraCalibration, request_slots=['doIt'],
response_cb=self._res_cb, response_slots=['status_message', 'success'])
def __init__(self):
ServiceState.__init__(self, '/RosPatrolService/stop', Empty)
def __init__(self, feedback_to_provide=None):
ServiceState.__init__(self, '/RosPatrolService/start', Empty, output_keys=['action_feedback'])
self._dyn_reconfigure_client = dynamic_reconfigure.client.Client('/move_base/PalLocalPlanner')
self.feedback = feedback_to_provide
def __init__(self):
ServiceState.__init__(self, '/body_stiffness/enable', Empty)
def __init__(self):
ServiceState.__init__(self, '/stop_recognition', Empty)
def __init__(self):
ServiceState.__init__(self, '/RH/integration/RobotInit', RobotIntegration, request_slots=['arm'], output_keys=['noImages'],
response_cb=self._res_cb, response_slots=['numPos'])
self.counter = 0;
def __init__(self):
ServiceState.__init__(self, '/RH/calibration/processTarget', CameraCalibration, request_slots=['doIt'], input_keys=['noImages'], response_cb=self._res_cb, response_slots=['status_message', 'success'])
self.counter = 1;
def __init__(self, frame='/map'):
ServiceState.__init__(self, 'move_base/make_plan', GetPlan,
input_keys=['x', 'y', 'yaw', 'start_x', 'start_y', 'start_yaw'],
request_cb=self.__request_cb)
self.frame = frame
def __init__(self, *args, **kwargs):
ServiceState.__init__(self, '/footstep_srv', StepTargetService, *args,
**kwargs)
