def main(task, with_plan, init_sim, savelog, no_taskselector, initialization_time, logging, parent_pid): print('start_task: main') if init_sim and not no_taskselector: #Taskselector print "Starting task_selector" global _pro_task_selector _pro_task_selector = subprocess.Popen( 'rosrun euroc_launch TaskSelector', stdout=subprocess.PIPE, shell=True, preexec_fn=os.setsid) rospy.sleep(5) #If plans should be started start the state machine if with_plan: rospy.init_node('suturo_planning_execution', log_level=rospy.DEBUG) rospy.loginfo('Started plan') toplevel_plan(init_sim, task, savelog, initialization_time, logging, parent_pid=parent_pid) else: rospy.init_node('suturo_planning_start_task', log_level=rospy.DEBUG) #Start tasks start_task(task) print 'Waiting for ctrl-c' rospy.spin() print('start_task: exiting main')
def execute(self, userdata): rospy.loginfo('Executing state StartSimulation') userdata.yaml = suturo_planning_task_selector.start_task(self.task_name) rospy.loginfo('Got YAML description') userdata.objects_found = [] rospy.loginfo('Waiting for clock.') self.clock = rospy.Subscriber('clock', Clock, self.wait_for_clock) while not self.new_clock: time.sleep(1) return 'success'
def execute(self, userdata): rospy.loginfo('Executing state StartSimulation') userdata.yaml = suturo_planning_task_selector.start_task( self.task_name) rospy.loginfo('Got YAML description') userdata.objects_found = [] rospy.loginfo('Waiting for clock.') self.clock = rospy.Subscriber('clock', Clock, self.wait_for_clock) while not self.new_clock: time.sleep(1) return 'success'
def main(task, with_plan, init_sim, savelog, no_taskselector, initialization_time, logging, parent_pid): print('start_task: main') if init_sim and not no_taskselector: #Taskselector print "Starting task_selector" global _pro_task_selector _pro_task_selector = subprocess.Popen('rosrun euroc_launch TaskSelector', stdout=subprocess.PIPE, shell=True, preexec_fn=os.setsid) rospy.sleep(5) #If plans should be started start the state machine if with_plan: rospy.init_node('suturo_planning_execution', log_level=rospy.DEBUG) rospy.loginfo('Started plan') toplevel_plan(init_sim, task, savelog, initialization_time, logging, parent_pid=parent_pid) else: rospy.init_node('suturo_planning_start_task', log_level=rospy.DEBUG) #Start tasks start_task(task) print 'Waiting for ctrl-c' rospy.spin() print('start_task: exiting main')
def start_simulation(self, req): resp = TaskDataServiceResponse() resp.taskdata = req.taskdata rospy.loginfo('Executing state StartSimulation') resp.taskdata.yaml = suturo_planning_task_selector.start_task(resp.taskdata.name) rospy.loginfo('Got YAML description') resp.taskdata.objects_found = [] rospy.loginfo('Waiting for clock.') self.clock = rospy.Subscriber('clock', Clock, self.wait_for_clock) while not self.new_clock: time.sleep(1) rospy.loginfo('Sucessfully started Simulation') resp.result = 'success' return resp
def start_simulation(self, req): resp = TaskDataServiceResponse() resp.taskdata = req.taskdata rospy.loginfo('Executing state StartSimulation') resp.taskdata.yaml = suturo_planning_task_selector.start_task( resp.taskdata.name) rospy.loginfo('Got YAML description') resp.taskdata.objects_found = [] rospy.loginfo('Waiting for clock.') self.clock = rospy.Subscriber('clock', Clock, self.wait_for_clock) while not self.new_clock: time.sleep(1) rospy.loginfo('Sucessfully started Simulation') resp.result = 'success' return resp