def __init__(self): State.__init__(self, outcomes=[ 'succeeded', 'aborted', 'preempted', 'action1', 'action2', 'action3', 'action4', 'action5', 'action6' ], output_keys=['waypoint_out']) self.get_objective = GetObjective()
def execute(self, userdata): rospy.loginfo("Side : " + str(userdata.robot_side)) tesssst = GetObjective() tesssst.send_request(GetObjectiveRequest()) blabla = GetObjectiveRequest() request = UpdatePriorityRequest() request.goal.pose.position.x = userdata.robot_side*(1.500 - 1.300) request.goal.pose.position.y = 1.000 request.prio = 100 #self.update_objective.send_request(request) #finished_within_time = self.update_objective.wait_for_response(rospy.Duration(10)) #response = self.update_objective.get_response() rospy.loginfo("Objective DropCubes priority updated") return 'succeeded'