class UpdateObjectiveDropShell(State): def __init__(self): State.__init__(self, outcomes=['succeeded','aborted','preempted'], input_keys=['robot_side']) self.update_objective = UpdatePriority() def execute(self, userdata): rospy.loginfo("Side : " + str(userdata.robot_side)) request = UpdatePriorityRequest() # TODO request.goal.pose.position.x = userdata.robot_side*(1.500 - 0.300) request.goal.pose.position.y = 0.800 request.prio = 100 self.update_objective.send_request(request) finished_within_time = self.update_objective.wait_for_response(rospy.Duration(10)) response = self.update_objective.get_response() rospy.loginfo("Objective DropShell priority updated") return 'succeeded'
def __init__(self): State.__init__(self, outcomes=['succeeded','aborted','preempted'], input_keys=['robot_side']) self.update_objective = UpdatePriority()