def call_guide_to(loc_name, world): tosay = "Please follow me to the " + str(loc_name) speak = speaker(tosay) speak.execute() rospy.logwarn('call_guide_to ' + loc_name) # ############################################################################# if SKILLS: if (time.time() - TIME_INIT) > 270: return "succeeded" out = 'aborted' tries = 0 while (out == 'aborted' and tries < 3): tries = tries + 1 sm = nav_to_poi(poi_name=loc_name) sm.execute() if out == 'aborted': tosay = "I can't reach the " + loc_name + ". The door is closed. The sentence was from category 3" speak = speaker(tosay) speak.execute() rospy.logwarn('FAIL IN REACHING ' + loc_name) time.sleep(SLEEP_TIME) return "aborted" ############################################################################# world.set_current_position(loc_name) time.sleep(SLEEP_TIME) return "succeeded"
def call_go_to(loc_name,world): ''' out = aborted tries = 0 while(out==aborted and tries<3): if loc_name == 'exit': out = call_exit() else: print "SM : go_to %s" % (loc_name) tosay = "I'm going to the "+loc_name speak = SpeakActionState(text=tosay) speak.execute(ud=None) mr = nav_to_poi() mr.userdata._data = {'nav_to_poi_name': loc_name.replace(' ', '_')}#{'room_name': loc_name.replace(' ', '_')} #mr.userdata.room_name = loc_name out = mr.execute() tries = tries+1 return succeeded ''' tosay = "I'm going to the "+str(loc_name) speak = speaker(tosay) speak.execute() rospy.logwarn('call_go_to '+ loc_name) ############################################################################# '''sm = nav_to_poi(poi_name = loc_name) sm.execute()''' ############################################################################# world.set_current_position(loc_name) time.sleep(SLEEP_TIME) return "succeeded"
def call_guide_to(loc_name,world): tosay = "Please follow me to the "+str(loc_name) speak = speaker(tosay) speak.execute() rospy.logwarn('call_guide_to '+ loc_name) # ############################################################################# if SKILLS : if (time.time()-TIME_INIT) > 270: return "succeeded" out = 'aborted' tries = 0 while(out=='aborted' and tries<3): tries = tries+1 sm = nav_to_poi(poi_name = loc_name) sm.execute() if out=='aborted': tosay = "I can't reach the " + loc_name + ". The door is closed. The sentence was from category 3" speak = speaker(tosay) speak.execute() rospy.logwarn('FAIL IN REACHING ' + loc_name) time.sleep(SLEEP_TIME) return "aborted" ############################################################################# world.set_current_position(loc_name) time.sleep(SLEEP_TIME) return "succeeded"
def call_go_to(loc_name, world): ''' out = aborted tries = 0 while(out==aborted and tries<3): if loc_name == 'exit': out = call_exit() else: print "SM : go_to %s" % (loc_name) tosay = "I'm going to the "+loc_name speak = SpeakActionState(text=tosay) speak.execute(ud=None) mr = nav_to_poi() mr.userdata._data = {'nav_to_poi_name': loc_name.replace(' ', '_')}#{'room_name': loc_name.replace(' ', '_')} #mr.userdata.room_name = loc_name out = mr.execute() tries = tries+1 return succeeded ''' tosay = "I'm going to the " + str(loc_name) speak = speaker(tosay) speak.execute() rospy.logwarn('call_go_to ' + loc_name) ############################################################################# '''sm = nav_to_poi(poi_name = loc_name) sm.execute()''' ############################################################################# world.set_current_position(loc_name) time.sleep(SLEEP_TIME) return "succeeded"
def call_go_to(loc_name,world): tosay = "I'm going to the "+str(loc_name) speak = speaker(tosay,wait=False) speak.execute() rospy.logwarn('call_go_to '+ loc_name + ' from :') ############################################################################# if SKILLS : if (time.time()-TIME_INIT) > 270: return "succeeded" out = 'aborted' tries = 0 while(out=='aborted' and tries<3): tries = tries+1 if world.get_current_position() == loc_name: out = 'succeeded' else: if loc_name == "exit": sm = nav_to_poi(poi_name = "door_B") out = sm.execute() sm = nav_to_poi(poi_name = loc_name) out = sm.execute() if out=='aborted': tosay = "I can't reach the " + loc_name + ". The door is closed. I'm going to inform" speak = speaker(tosay) speak.execute() rospy.logwarn('FAIL IN REACHING ' + loc_name) time.sleep(SLEEP_TIME) sm = nav_to_poi(poi_name = 'referee') out = sm.execute() tosay = "I can't reach the " + loc_name + ". The door is closed. The sentence is from category 3" speak = speaker(tosay) speak.execute() return "aborted" else: tosay = "I arrived to the " + loc_name speak = speaker(tosay) speak.execute() ############################################################################# world.set_current_position(loc_name) rospy.logwarn(world.get_current_position()) time.sleep(SLEEP_TIME) return "succeeded"
def call_guide_to(loc_name,world): tosay = "Please follow me to the "+str(loc_name) speak = speaker(tosay) speak.execute() rospy.logwarn('call_guide_to '+ loc_name) ############################################################################# '''sm = nav_to_poi(poi_name = loc_name) sm.execute()''' ############################################################################# print(world.robot.locId) world.set_current_position(loc_name) print(world.robot.locId) time.sleep(SLEEP_TIME) return "succeeded"
def call_guide_to(loc_name, world): tosay = "Please follow me to the " + str(loc_name) speak = speaker(tosay) speak.execute() rospy.logwarn('call_guide_to ' + loc_name) ############################################################################# '''sm = nav_to_poi(poi_name = loc_name) sm.execute()''' ############################################################################# print(world.robot.locId) world.set_current_position(loc_name) print(world.robot.locId) time.sleep(SLEEP_TIME) return "succeeded"
def call_go_to(loc_name, world): tosay = "I'm going to the " + str(loc_name) speak = speaker(tosay, wait=False) speak.execute() rospy.logwarn('call_go_to ' + loc_name + ' from :') ############################################################################# if SKILLS: if (time.time() - TIME_INIT) > 270: return "succeeded" out = 'aborted' tries = 0 while (out == 'aborted' and tries < 3): tries = tries + 1 if world.get_current_position() == loc_name: out = 'succeeded' else: if loc_name == "exit": sm = nav_to_poi(poi_name="door_B") out = sm.execute() sm = nav_to_poi(poi_name=loc_name) out = sm.execute() if out == 'aborted': tosay = "I can't reach the " + loc_name + ". The door is closed. I'm going to inform" speak = speaker(tosay) speak.execute() rospy.logwarn('FAIL IN REACHING ' + loc_name) time.sleep(SLEEP_TIME) sm = nav_to_poi(poi_name='referee') out = sm.execute() tosay = "I can't reach the " + loc_name + ". The door is closed. The sentence is from category 3" speak = speaker(tosay) speak.execute() return "aborted" else: tosay = "I arrived to the " + loc_name speak = speaker(tosay) speak.execute() ############################################################################# world.set_current_position(loc_name) rospy.logwarn(world.get_current_position()) time.sleep(SLEEP_TIME) return "succeeded"