def call_guide_to(loc_name, world):
tosay = "Please follow me to the " + str(loc_name)
speak = speaker(tosay)
speak.execute()
rospy.logwarn('call_guide_to ' + loc_name)
# #############################################################################
if SKILLS:
if (time.time() - TIME_INIT) > 270:
return "succeeded"
out = 'aborted'
tries = 0
while (out == 'aborted' and tries < 3):
tries = tries + 1
sm = nav_to_poi(poi_name=loc_name)
sm.execute()
if out == 'aborted':
tosay = "I can't reach the " + loc_name + ". The door is closed. The sentence was from category 3"
speak = speaker(tosay)
speak.execute()
rospy.logwarn('FAIL IN REACHING ' + loc_name)
time.sleep(SLEEP_TIME)
return "aborted"
#############################################################################
world.set_current_position(loc_name)
time.sleep(SLEEP_TIME)
return "succeeded"
def call_go_to(loc_name,world):
'''
out = aborted
tries = 0
while(out==aborted and tries<3):
if loc_name == 'exit':
out = call_exit()
else:
print "SM : go_to %s" % (loc_name)
tosay = "I'm going to the "+loc_name
speak = SpeakActionState(text=tosay)
speak.execute(ud=None)
mr = nav_to_poi()
mr.userdata._data = {'nav_to_poi_name': loc_name.replace(' ', '_')}#{'room_name': loc_name.replace(' ', '_')}
#mr.userdata.room_name = loc_name
out = mr.execute()
tries = tries+1
return succeeded '''
tosay = "I'm going to the "+str(loc_name)
speak = speaker(tosay)
speak.execute()
rospy.logwarn('call_go_to '+ loc_name)
#############################################################################
'''sm = nav_to_poi(poi_name = loc_name)
sm.execute()'''
#############################################################################
world.set_current_position(loc_name)
time.sleep(SLEEP_TIME)
return "succeeded"
def call_guide_to(loc_name,world):
tosay = "Please follow me to the "+str(loc_name)
speak = speaker(tosay)
speak.execute()
rospy.logwarn('call_guide_to '+ loc_name)
# #############################################################################
if SKILLS :
if (time.time()-TIME_INIT) > 270:
return "succeeded"
out = 'aborted'
tries = 0
while(out=='aborted' and tries<3):
tries = tries+1
sm = nav_to_poi(poi_name = loc_name)
sm.execute()
if out=='aborted':
tosay = "I can't reach the " + loc_name + ". The door is closed. The sentence was from category 3"
speak = speaker(tosay)
speak.execute()
rospy.logwarn('FAIL IN REACHING ' + loc_name)
time.sleep(SLEEP_TIME)
return "aborted"
#############################################################################
world.set_current_position(loc_name)
time.sleep(SLEEP_TIME)
return "succeeded"
def call_go_to(loc_name, world):
'''
out = aborted
tries = 0
while(out==aborted and tries<3):
if loc_name == 'exit':
out = call_exit()
else:
print "SM : go_to %s" % (loc_name)
tosay = "I'm going to the "+loc_name
speak = SpeakActionState(text=tosay)
speak.execute(ud=None)
mr = nav_to_poi()
mr.userdata._data = {'nav_to_poi_name': loc_name.replace(' ', '_')}#{'room_name': loc_name.replace(' ', '_')}
#mr.userdata.room_name = loc_name
out = mr.execute()
tries = tries+1
return succeeded '''
tosay = "I'm going to the " + str(loc_name)
speak = speaker(tosay)
speak.execute()
rospy.logwarn('call_go_to ' + loc_name)
#############################################################################
'''sm = nav_to_poi(poi_name = loc_name)
sm.execute()'''
#############################################################################
world.set_current_position(loc_name)
time.sleep(SLEEP_TIME)
return "succeeded"
def call_go_to(loc_name,world):
tosay = "I'm going to the "+str(loc_name)
speak = speaker(tosay,wait=False)
speak.execute()
rospy.logwarn('call_go_to '+ loc_name + ' from :')
#############################################################################
if SKILLS :
if (time.time()-TIME_INIT) > 270:
return "succeeded"
out = 'aborted'
tries = 0
while(out=='aborted' and tries<3):
tries = tries+1
if world.get_current_position() == loc_name:
out = 'succeeded'
else:
if loc_name == "exit":
sm = nav_to_poi(poi_name = "door_B")
out = sm.execute()
sm = nav_to_poi(poi_name = loc_name)
out = sm.execute()
if out=='aborted':
tosay = "I can't reach the " + loc_name + ". The door is closed. I'm going to inform"
speak = speaker(tosay)
speak.execute()
rospy.logwarn('FAIL IN REACHING ' + loc_name)
time.sleep(SLEEP_TIME)
sm = nav_to_poi(poi_name = 'referee')
out = sm.execute()
tosay = "I can't reach the " + loc_name + ". The door is closed. The sentence is from category 3"
speak = speaker(tosay)
speak.execute()
return "aborted"
else:
tosay = "I arrived to the " + loc_name
speak = speaker(tosay)
speak.execute()
#############################################################################
world.set_current_position(loc_name)
rospy.logwarn(world.get_current_position())
time.sleep(SLEEP_TIME)
return "succeeded"
def call_guide_to(loc_name,world):
tosay = "Please follow me to the "+str(loc_name)
speak = speaker(tosay)
speak.execute()
rospy.logwarn('call_guide_to '+ loc_name)
#############################################################################
'''sm = nav_to_poi(poi_name = loc_name)
sm.execute()'''
#############################################################################
print(world.robot.locId)
world.set_current_position(loc_name)
print(world.robot.locId)
time.sleep(SLEEP_TIME)
return "succeeded"
def call_guide_to(loc_name, world):
tosay = "Please follow me to the " + str(loc_name)
speak = speaker(tosay)
speak.execute()
rospy.logwarn('call_guide_to ' + loc_name)
#############################################################################
'''sm = nav_to_poi(poi_name = loc_name)
sm.execute()'''
#############################################################################
print(world.robot.locId)
world.set_current_position(loc_name)
print(world.robot.locId)
time.sleep(SLEEP_TIME)
return "succeeded"
def call_go_to(loc_name, world):
tosay = "I'm going to the " + str(loc_name)
speak = speaker(tosay, wait=False)
speak.execute()
rospy.logwarn('call_go_to ' + loc_name + ' from :')
#############################################################################
if SKILLS:
if (time.time() - TIME_INIT) > 270:
return "succeeded"
out = 'aborted'
tries = 0
while (out == 'aborted' and tries < 3):
tries = tries + 1
if world.get_current_position() == loc_name:
out = 'succeeded'
else:
if loc_name == "exit":
sm = nav_to_poi(poi_name="door_B")
out = sm.execute()
sm = nav_to_poi(poi_name=loc_name)
out = sm.execute()
if out == 'aborted':
tosay = "I can't reach the " + loc_name + ". The door is closed. I'm going to inform"
speak = speaker(tosay)
speak.execute()
rospy.logwarn('FAIL IN REACHING ' + loc_name)
time.sleep(SLEEP_TIME)
sm = nav_to_poi(poi_name='referee')
out = sm.execute()
tosay = "I can't reach the " + loc_name + ". The door is closed. The sentence is from category 3"
speak = speaker(tosay)
speak.execute()
return "aborted"
else:
tosay = "I arrived to the " + loc_name
speak = speaker(tosay)
speak.execute()
#############################################################################
world.set_current_position(loc_name)
rospy.logwarn(world.get_current_position())
time.sleep(SLEEP_TIME)
return "succeeded"
