def __init__(self): smach.State.__init__(self, outcomes=['succeed', 'fail'], input_keys=['im_input'], output_keys=['im_output', 'number']) #tool used to recognition self.ic=ImageComparator()
class Recognition(smach.State): def __init__(self): smach.State.__init__(self, outcomes=['succeed', 'fail'], input_keys=['im_input'], output_keys=['im_output', 'number']) #tool used to recognition self.ic=ImageComparator() def execute(self, userdata): im=userdata.im_input try: num=self.ic.identify(im) except TreatmentError,e: print e userdata.im_output=im return 'fail' else: