class RunCommandOnRobot(smach.State):
"""RunCommandOnRobot State.
Use this state to execute a command on the robot.
If you are running this State from your computer, the robot name will be get from the variable ROS_MASTER_URI.
The default login and password are defined on the run_script_on_robot.py file.
If you are running directly on the robot (not from your computer), the command will be executed locally by RunCommandLocal State.
Be carefull: All commands executed on the robot will run as root user.
"""
def __init__(self, command=None, input_keys=[], output_keys=[]):
"""Constructor for RunCommandOnRobot.
@type command: string
@param command: The command that you want execute.
"""
smach.State.__init__(self, input_keys=input_keys, output_keys=output_keys, outcomes=[succeeded, aborted])
if command is None:
raise ValueError("You should set the variable 'command'")
self.remote_command = RunScriptOnRobot(script_name=command, use_path=False)
def execute(self, userdata):
return self.remote_command.execute(userdata)
def __init__(self, command=None, input_keys=[], output_keys=[]):
"""Constructor for RunCommandOnRobot.
@type command: string
@param command: The command that you want execute.
"""
smach.State.__init__(self, input_keys=input_keys, output_keys=output_keys, outcomes=[succeeded, aborted])
if command is None:
raise ValueError("You should set the variable 'command'")
self.remote_command = RunScriptOnRobot(script_name=command, use_path=False)
