def execute_cb(self, goal):
r = rospy.Rate(1)
rospy.loginfo("IdleServer: Executing idle state...")
while True:
# Check that preempt hasn't been requested by the client
if self._as.is_preempt_requested():
rospy.loginfo('%s: Preempted' % self._action_name)
self._as.set_preempted()
break
# Sleep for a while
r.sleep()
# Increase "boredom" by lowering PAD values
msg = EmotionalFeedback()
val = -0.05
msg.delta_pleasure = val
msg.delta_arousal = val
msg.delta_dominance = val
self._publisher.publish(msg)
def send_emotion(self, pleasure, arousal, dominance):
msg = EmotionalFeedback()
msg.delta_pleasure = pleasure
msg.delta_arousal = arousal
msg.delta_dominance = dominance
self.publisher_emotional_feedback.publish(msg)