Exemplos de execute_smach_container em Python

Exemplo n.º 1

def multiple_goals_starter():

    rospy.init_node('multiple_goals_starter')

#    wfg = WaitForGoalState() # We don't want multiple subscribers so we need one WaitForGoal state

    runner = Runner(rgoap_subclasses)
    sm = util.simple_state_wrapper(AutonomousRGOAPState(runner))

    print sm

    util.execute_smach_container(sm, True, '/MULTIPLE_GOALS')

    print 'DONE!'

Exemplo n.º 2

def _test_look_around():
    rospy.init_node('smach')

    print POSES
    print POSES_GLIMPSE
    print POSES_CRAZY

    sq = smach.Sequence(outcomes=['succeeded', 'aborted', 'preempted'],
                        connector_outcome='succeeded')

    with sq:
        smach.Sequence.add('LOOK_AROUND', get_lookaround_smach(util.SleepState(1)))
        smach.Sequence.add('GLIMPSE_AROUND', get_lookaround_smach(util.SleepState(1),
                                                                  glimpse=True))

    util.execute_smach_container(sq, enable_introspection=True)

Exemplo n.º 3

Arquivo: test_Runner_RGOAPState.py Projeto: Aand1/uashh-rvl-ros-pkg

def test_runner():
    rospy.init_node('runner_test')

    runner = Runner()

    sq = Sequence(outcomes=['succeeded', 'aborted', 'preempted'],
                  connector_outcome='succeeded')

    wfg = WaitForGoalState() # We don't want multiple subscribers so we need one WaitForGoal state

    with sq:

        Sequence.add('SLEEP', SleepState(5))

        Sequence.add('WAIT_FOR_GOAL', wfg,
                     transitions={'aborted':'SLEEP'})

        Sequence.add('MOVE_BASE_RGOAP', MoveBaseRGOAPState(runner),
                     transitions={'succeeded':'SLEEP'})

    execute_smach_container(sq, enable_introspection=True)

Exemplo n.º 4

def main():
    rospy.init_node('smach')
    util.execute_smach_container(get_go_and_return_smach(),
                                 enable_introspection=True)

Exemplo n.º 5

Arquivo: task_transport_box_simple.py Projeto: bajo/uashh-rvl-ros-pkg

def main():
    rospy.init_node('smach')
    util.execute_smach_container(_get_transport_box_smach(), enable_introspection=True)

Exemplo n.º 6

Arquivo: task_go_and_return.py Projeto: bajo/uashh-rvl-ros-pkg

def main():
    rospy.init_node('smach')
    util.execute_smach_container(get_go_and_return_smach(), enable_introspection=True)

Exemplo n.º 7

def main():
    rospy.init_node('smach')
    util.execute_smach_container(get_move_around_smach(),
                                 enable_introspection=True)

Exemplo n.º 8

Arquivo: test_PromptState.py Projeto: bajo/uashh-rvl-ros-pkg

 def exec_state(state):
     sm = simple_state_wrapper(state)
     return execute_smach_container(sm, userdata=ud)

Exemplo n.º 9

Arquivo: test_SleepState.py Projeto: Aand1/uashh-rvl-ros-pkg

 def exec_state(state):
     sm = simple_state_wrapper(state)
     return execute_smach_container(sm, userdata=ud)

Exemplo n.º 10

Arquivo: task_transport_box_simple.py Projeto: Aand1/uashh-rvl-ros-pkg

def main():
    rospy.init_node('smach')
    util.execute_smach_container(_get_transport_box_smach(),
                                 enable_introspection=True)

Exemplo n.º 11

Arquivo: task_move_around.py Projeto: felix-kolbe/uashh-rvl-ros-pkg

def main():
    rospy.init_node('smach')
    util.execute_smach_container(get_move_around_smach(), enable_introspection=True)