def __init__(self):
"""
This class manage the robot task planning. A list of goals can be set by
external agent (e.g. users) with the action server 'task_plan' The task
manager plans a sequence of skills to reach the goals and returns it.
Initialize task manager as a ros node. Establish access to the global
and local world model, skill manager and the task planner.
"""
rospy.init_node("task_manager", anonymous=False)
self._author_name = rospy.get_name()
self._goals = []
self._skills = {}
self._abstract_objects = []
self._wmi = wmi.WorldModelInterface(self._author_name)
self._sli = sli.SkillLayerInterface(self._author_name)
self._pddl_interface = pddl.PddlInterface()
self._verbose = rospy.get_param('~verbose', True)
log.setLevel(log.INFO)
self._assign_task_action = actionlib.SimpleActionServer(
'~task_plan',
msgs.AssignTaskAction,
execute_cb=self._assign_task_cb,
auto_start=False)
self._assign_task_action.start()
self._is_ready = False
def __init__(self):
"""Initialization of the task manager.
Initialize task manager as a ros node.
Establish access to the global and local world model, skill manager and the task planner.
"""
rospy.init_node("task_manager", anonymous=False)
self._author_name = rospy.get_name()
self._goals = []
self._skills = {}
self._abstract_objects = []
self._wmi = wmi.WorldModelInterface(self._author_name)
self._sli = sli.SkillLayerInterface(self._author_name)
self._pddl_interface = pddl.PddlInterface(
workspace=rospkg.RosPack().get_path("skiros2_task"))
self._verbose = rospy.get_param('~verbose', True)
self._assign_task_action = actionlib.SimpleActionServer(
'~task_plan',
msgs.AssignTaskAction,
execute_cb=self._assign_task_cb,
auto_start=False)
self._assign_task_action.start()
self._is_ready = False
def reset(self):
# The plugin should not call init_node as this is performed by rqt_gui_py.
# Due to restrictions in Qt, you cannot manipulate Qt widgets directly within ROS callbacks,
# because they are running in a different thread.
self.initInteractiveServer(SkirosWidget.widget_id)
self._wmi = wmi.WorldModelInterface(SkirosWidget.widget_id)
self._sli = sli.SkillLayerInterface(SkirosWidget.widget_id)
# Setup a timer to keep interface updated
self.refresh_timer = QTimer()
self.refresh_timer.timeout.connect(self.refresh_timer_cb)
self.refresh_timer.start(500)
self.robot_sub = rospy.Subscriber('/robot_output', String, self.robot_output_cb)
self.robot_text = ""
# World model tab
self._wmi.set_monitor_cb(lambda d: self.wm_update_signal.emit(d))
self._sli.set_monitor_cb(lambda d: self.task_progress_signal.emit(d))
self._snapshot_id = ""
self._snapshot_stamp = rospy.Time.now()
self._wm_mutex = Lock()
self._task_mutex = Lock()
# Skill tab
self.last_executed_skill = ""
self.skill_stop_button.setEnabled(False)
self.space_shortcut = QShortcut(QtGui.QKeySequence(Qt.Key_Space), self)
self.space_shortcut.activated.connect(self.skill_start_stop)
# self.space_shortcut.setContext(QtCore.Qt.WidgetWithChildrenShortcut)
# Log tab
self.log_file = None
self.icons = dict()
def __init__(self, qtbot, tmp_dir, init_scene):
self.qtbot = qtbot
self.tmp_dir = tmp_dir
self.init_scene = init_scene
self.widget = SkirosWidget()
self.qtbot.addWidget(self.widget)
self.wmi = wmi.WorldModelInterface()
self._file_paths = []
def wm_tmp_dir():
tmp_dir = 'tmp_dir'
init_scene = 'init_scene.turtle'
tmp_name = os.path.join(tmp_dir, init_scene)
wm_inst = wmi.WorldModelInterface()
wm_inst.save(tmp_name)
yield [tmp_dir, init_scene]
#tear down
tmp_path = wm_file_path(tmp_dir)
shutil.rmtree(tmp_path)
def __init__(self, prefix, agent_name, verbose=True):
self._agent_name = agent_name
self._wmi = wmi.WorldModelInterface(agent_name, make_cache=True)
self._wmi.set_default_prefix(prefix)
self._local_wm = self._wmi
self._instanciator = SkillInstanciator(self._local_wm)
self._ticker = BtTicker()
self._verbose = verbose
self._ticker._verbose = verbose
self._register_agent(agent_name)
self._skills = []