def __init__(self):
Logger.initialize()
self._ready_event = threading.Event()
self._sub = rospy.Subscriber("flexbe/request_behavior",
BehaviorRequest, self._callback)
self._version_sub = rospy.Subscriber("flexbe/ui_version", String,
self._version_callback)
self._pub = rospy.Publisher("flexbe/start_behavior",
BehaviorSelection,
queue_size=100)
self._status_pub = rospy.Publisher("flexbe/status",
BEStatus,
queue_size=100)
self._status_sub = rospy.Subscriber("flexbe/status", BEStatus,
self._status_callback)
self._mirror_pub = rospy.Publisher("flexbe/mirror/structure",
ContainerStructure,
queue_size=100)
self._rp = RosPack()
self._behavior_lib = BehaviorLibrary()
rospy.loginfo("%d behaviors available, ready for start request." %
self._behavior_lib.count_behaviors())
def __init__(self):
self._sub = rospy.Subscriber("flexbe/request_behavior", BehaviorRequest, self._callback)
self._version_sub = rospy.Subscriber("flexbe/ui_version", String, self._version_callback)
self._pub = rospy.Publisher("flexbe/start_behavior", BehaviorSelection, queue_size=100)
self._status_pub = rospy.Publisher("flexbe/status", BEStatus, queue_size=100)
self._mirror_pub = rospy.Publisher("flexbe/mirror/structure", ContainerStructure, queue_size=100)
self._rp = RosPack()
self._behavior_lib = dict()
Logger.initialize()
behaviors_package = "flexbe_behaviors"
if rospy.has_param("behaviors_package"):
behaviors_package = rospy.get_param("behaviors_package")
else:
rospy.loginfo("Using default behaviors package: %s" % behaviors_package)
manifest_folder = os.path.join(self._rp.get_path(behaviors_package), 'behaviors/')
file_entries = [os.path.join(manifest_folder, filename) for filename in os.listdir(manifest_folder) if not filename.startswith('#')]
manifests = sorted([xmlpath for xmlpath in file_entries if not os.path.isdir(xmlpath)])
for i in range(len(manifests)):
m = ET.parse(manifests[i]).getroot()
e = m.find("executable")
self._behavior_lib[i] = {
"name": m.get("name"),
"package": e.get("package_path").split(".")[0],
"file": e.get("package_path").split(".")[1],
"class": e.get("class")
}
rospy.loginfo("%d behaviors available, ready for start request." % len(self._behavior_lib.items()))
def __init__(self):
self._sub = rospy.Subscriber("flexbe/request_behavior",
BehaviorRequest, self._callback)
self._version_sub = rospy.Subscriber("flexbe/ui_version", String,
self._version_callback)
self._pub = rospy.Publisher("flexbe/start_behavior",
BehaviorSelection,
queue_size=100)
self._status_pub = rospy.Publisher("flexbe/status",
BEStatus,
queue_size=100)
self._mirror_pub = rospy.Publisher("flexbe/mirror/structure",
ContainerStructure,
queue_size=100)
self._rp = RosPack()
self._behavior_lib = dict()
Logger.initialize()
behaviors_package = "flexbe_behaviors"
if rospy.has_param("~behaviors_package"):
behaviors_package = rospy.get_param("~behaviors_package")
rospy.loginfo("Using custom behaviors package: %s" %
behaviors_package)
else:
rospy.loginfo("Using default behaviors package: %s" %
behaviors_package)
manifest_folder = os.path.join(self._rp.get_path(behaviors_package),
'behaviors/')
file_entries = [
os.path.join(manifest_folder, filename)
for filename in os.listdir(manifest_folder)
if not filename.startswith('#')
]
manifests = sorted([
xmlpath for xmlpath in file_entries if not os.path.isdir(xmlpath)
])
for i in range(len(manifests)):
m = ET.parse(manifests[i]).getroot()
e = m.find("executable")
self._behavior_lib[i] = {
"name": m.get("name"),
"package": e.get("package_path").split(".")[0],
"file": e.get("package_path").split(".")[1],
"class": e.get("class")
}
rospy.loginfo("%d behaviors available, ready for start request." %
len(self._behavior_lib.items()))
def __init__(self):
'''
Constructor
'''
self.be = None
Logger.initialize()
#ProxyPublisher._simulate_delay = True
#ProxySubscriberCached._simulate_delay = True
# prepare temp folder
rp = rospkg.RosPack()
self._tmp_folder = os.path.join(rp.get_path('flexbe_onboard'), 'tmp/')
if not os.path.exists(self._tmp_folder):
os.makedirs(self._tmp_folder)
sys.path.append(self._tmp_folder)
# prepare manifest folder access
manifest_folder = os.path.join(rp.get_path('flexbe_behaviors'), 'behaviors/')
rospy.loginfo("Parsing available behaviors...")
file_entries = [os.path.join(manifest_folder, filename) for filename in os.listdir(manifest_folder) if not filename.startswith('#')]
manifests = sorted([xmlpath for xmlpath in file_entries if not os.path.isdir(xmlpath)])
self._behavior_lib = dict()
for i in range(len(manifests)):
m = ET.parse(manifests[i]).getroot()
e = m.find("executable")
self._behavior_lib[i] = {"name": m.get("name"), "package": e.get("package_path").split(".")[0], "file": e.get("package_path").split(".")[1], "class": e.get("class")}
# rospy.loginfo("+++ " + self._behavior_lib[i]["name"])
self._pub = ProxyPublisher()
self._sub = ProxySubscriberCached()
self.status_topic = '/flexbe/status'
self.feedback_topic = '/flexbe/command_feedback'
self._pub.createPublisher(self.status_topic, BEStatus, _latch = True)
self._pub.createPublisher(self.feedback_topic, CommandFeedback)
# listen for new behavior to start
self._running = False
self._switching = False
self._sub.subscribe('/flexbe/start_behavior', BehaviorSelection, self._behavior_callback)
# heartbeat
self._pub.createPublisher('/flexbe/heartbeat', Empty)
self._execute_heartbeat()
rospy.sleep(0.5) # wait for publishers etc to really be set up
self._pub.publish(self.status_topic, BEStatus(code=BEStatus.READY))
rospy.loginfo('\033[92m--- Behavior Engine ready! ---\033[0m')
def __init__(self):
'''
Constructor
'''
self.be = None
Logger.initialize()
smach.set_loggers (
rospy.logdebug, # hide SMACH transition log spamming
rospy.logwarn,
rospy.logdebug,
rospy.logerr
)
#ProxyPublisher._simulate_delay = True
#ProxySubscriberCached._simulate_delay = True
# prepare temp folder
rp = rospkg.RosPack()
self._tmp_folder = "/tmp/flexbe_onboard"
if not os.path.exists(self._tmp_folder):
os.makedirs(self._tmp_folder)
sys.path.append(self._tmp_folder)
# prepare manifest folder access
self._behavior_lib = BehaviorLibrary()
self._pub = ProxyPublisher()
self._sub = ProxySubscriberCached()
self.status_topic = 'flexbe/status'
self.feedback_topic = 'flexbe/command_feedback'
self._pub.createPublisher(self.status_topic, BEStatus, _latch = True)
self._pub.createPublisher(self.feedback_topic, CommandFeedback)
# listen for new behavior to start
self._running = False
self._switching = False
self._sub.subscribe('flexbe/start_behavior', BehaviorSelection, self._behavior_callback)
# heartbeat
self._pub.createPublisher('flexbe/heartbeat', Empty)
self._execute_heartbeat()
rospy.sleep(0.5) # wait for publishers etc to really be set up
self._pub.publish(self.status_topic, BEStatus(code=BEStatus.READY))
rospy.loginfo('\033[92m--- Behavior Engine ready! ---\033[0m')
def __init__(self):
self.be = None
Logger.initialize()
self._tracked_imports = list()
# hide SMACH transition log spamming
smach.set_loggers(rospy.logdebug, rospy.logwarn, rospy.logdebug, rospy.logerr)
# prepare temp folder
self._tmp_folder = tempfile.mkdtemp()
sys.path.append(self._tmp_folder)
rospy.on_shutdown(self._cleanup_tempdir)
# prepare manifest folder access
self._behavior_lib = BehaviorLibrary()
# prepare communication
self.status_topic = 'flexbe/status'
self.feedback_topic = 'flexbe/command_feedback'
self._pub = ProxyPublisher({
self.feedback_topic: CommandFeedback,
'flexbe/heartbeat': Empty
})
self._pub.createPublisher(self.status_topic, BEStatus, _latch=True)
self._execute_heartbeat()
# listen for new behavior to start
self._running = False
self._run_lock = threading.Lock()
self._switching = False
self._switch_lock = threading.Lock()
self._sub = ProxySubscriberCached()
self._sub.subscribe('flexbe/start_behavior', BehaviorSelection, self._behavior_callback)
rospy.sleep(0.5) # wait for publishers etc to really be set up
self._pub.publish(self.status_topic, BEStatus(code=BEStatus.READY))
rospy.loginfo('\033[92m--- Behavior Engine ready! ---\033[0m')
def __init__(self):
'''
Constructor
'''
self.be = None
self._current_behavior = None
Logger.initialize()
smach.set_loggers(
rospy.logdebug, # hide SMACH transition log spamming
rospy.logwarn,
rospy.logdebug,
rospy.logerr)
#ProxyPublisher._simulate_delay = True
#ProxySubscriberCached._simulate_delay = True
behaviors_package = "flexbe_behaviors"
if rospy.has_param("~behaviors_package"):
behaviors_package = rospy.get_param("~behaviors_package")
rospy.loginfo("Using custom behaviors package: %s" %
behaviors_package)
else:
rospy.loginfo("Using default behaviors package: %s" %
behaviors_package)
# prepare temp folder
rp = rospkg.RosPack()
self._tmp_folder = os.path.join(rp.get_path('flexbe_onboard'), 'tmp/')
if not os.path.exists(self._tmp_folder):
os.makedirs(self._tmp_folder)
sys.path.append(self._tmp_folder)
# prepare manifest folder access
manifest_folder = os.path.join(rp.get_path(behaviors_package),
'behaviors/')
rospy.loginfo("Parsing available behaviors...")
file_entries = [
os.path.join(manifest_folder, filename)
for filename in os.listdir(manifest_folder)
if not filename.startswith('#')
]
manifests = sorted([
xmlpath for xmlpath in file_entries if not os.path.isdir(xmlpath)
])
self._behavior_lib = dict()
for i in range(len(manifests)):
try:
m = ET.parse(manifests[i]).getroot()
except ET.ParseError:
rospy.logerr(
'Failed to parse behavior description xml file: "%s"' %
manifests[i])
else:
e = m.find("executable")
self._behavior_lib[i] = {
"name": m.get("name"),
"package": e.get("package_path").split(".")[0],
"file": e.get("package_path").split(".")[1],
"class": e.get("class")
}
# rospy.loginfo("+++ " + self._behavior_lib[i]["name"])
# enable automatic reloading of all subsequent modules on reload
_reload_importer = ReloadImporter()
_reload_importer.add_reload_path(self._tmp_folder)
behaviors_folder = os.path.abspath(
os.path.join(rp.get_path(self._behavior_lib[0]['package']), '..'))
_reload_importer.add_reload_path(behaviors_folder)
_reload_importer.enable()
self._pub = ProxyPublisher()
self._sub = ProxySubscriberCached()
self.status_topic = 'flexbe/status'
self.feedback_topic = 'flexbe/command_feedback'
self._pub.createPublisher(self.status_topic, BEStatus, _latch=True)
self._pub.createPublisher(self.feedback_topic, CommandFeedback)
# listen for new behavior to start
self._running = False
self._switching = False
self._sub.subscribe('flexbe/start_behavior', BehaviorSelection,
self._behavior_callback)
# heartbeat
self._pub.createPublisher('flexbe/heartbeat', Empty)
self._execute_heartbeat()
rospy.sleep(0.5) # wait for publishers etc to really be set up
self._pub.publish(self.status_topic, BEStatus(code=BEStatus.READY))
rospy.loginfo('\033[92m--- Behavior Engine ready! ---\033[0m')
