def on_enter(self, userdata):
# When entering this state, we send the action goal once to let the robot start its work.
# As documented above, we get the specification of which dishwasher to use as input key.
# This enables a previous state to make this decision during runtime and provide the ID as its own output key.
# Create the goal.
tweet = SendTweetGoal()
tweet.text = userdata.tweet_text
if len(userdata.tweet_text) > 140:
tweet.text = '#LAMoR15 #ECMR15 I just told a too looong joke, stupid tweet length!'
tweet.with_photo = True
img = cv2.imread(userdata.picture_path)
bridge = CvBridge()
image_message = bridge.cv2_to_imgmsg(img, encoding="bgr8")
tweet.photo = image_message
try:
self._client.send_goal(self._topic, tweet)
except Exception as e:
# Since a state failure not necessarily causes a behavior failure, it is recommended to only print warnings, not errors.
# Using a linebreak before appending the error log enables the operator to collapse details in the GUI.
Logger.logwarn(
'Failed to send the TweetPictureState command:\n%s' % str(e))
self._error = True
def execute(self, goal):
self.image = None
self.sub = rospy.Subscriber(goal.topic,
Image,
self.image_callback,
queue_size=1)
# the polling is ugly, but it's hard do do things in a ros-time friendly way otherwise
while self.image == None and not rospy.is_shutdown(
) and not self.server.is_preempt_requested():
rospy.sleep(0.5)
result = GrabImageThenTweetResult(success=False)
if rospy.is_shutdown() or self.server.is_preempt_requested():
self.server.set_preempted(result)
return
# if we got this far we have an image
tweet = SendTweetGoal(text=goal.text,
force=goal.force,
with_photo=True,
photo=self.image)
self.tweet_client.send_goal(tweet)
while not self.tweet_client.wait_for_result(
rospy.Duration(0.5)) and not rospy.is_shutdown(
) and not self.server.is_preempt_requested():
pass
if rospy.is_shutdown() or self.server.is_preempt_requested():
self.server.set_preempted(result)
else:
result.success = True
self.server.set_succeeded(result)