def execute(self, userdata):
try:
task_spec = task_specification_navigation()
target = navigation_target(userdata.marker_in, userdata.orientation_in, 0.0)
task_spec.add_target(target)
userdata.task_spec_out = task_spec
except:
return "failed"
return "generated"
def parse_task(self, task_str):
rospy.loginfo("BNT Taskspec: %s", task_str)
test, spec = task_str.split("<")
assert test == "BNT"
spec = spec.strip()[:-1] #remove trailing '>'
places = spec.split(")")[:-1] #remove last (empty) element
taskspec = task_specification_navigation()
for place in places:
taskspec.add_target(self.parse_place(place))
return taskspec
def main():
rospy.init_node("youbot_navigation_ai_re")
nav_ai = YoubotNavigationAI()
nav_ai.setup_introspection()
#Example Task Spec
spec = task_specification_navigation()
spec.add_target(navigation_target("D1", "S", 2.0))
spec.add_target(navigation_target("T4", "W", 2.0))
spec.add_target(navigation_target("S1", "N", 2.0))
spec.add_target(navigation_target("S5", "N", 2.0))
nav_ai.get_statemachine().userdata.task_specification_nav_in = spec
nav_ai.run()
