def execute(self, userdata):
result = PickObjectWBCResult()
result.success = False
userdata.pick_object_wbc_result = result
# give feedback
feedback = PickObjectWBCFeedback()
feedback.current_state = 'SELECT_OBJECT'
userdata.pick_object_wbc_feedback = feedback
# the goal will contain the arm location to move
userdata.move_arm_to = userdata.pick_object_wbc_goal.object
# do not kill the node so fast, let the topic to survive for some time
rospy.loginfo('move arm to : ' + userdata.move_arm_to)
return 'success'
def execute(self, userdata):
result = PickObjectWBCResult()
result.success = False
userdata.pick_object_wbc_result = result
# give feedback
feedback = PickObjectWBCFeedback()
feedback.current_state = 'SELECT_OBJECT'
userdata.pick_object_wbc_feedback = feedback
# receive parameters from actionlib
object_to_pick = userdata.pick_object_wbc_goal.object.upper()
# creating string message
msg = String()
# filling message
msg.data = object_to_pick
self.publisher.publish(msg)
# do not kill the node so fast, let the topic to survive for some time
rospy.loginfo('publishing on ' + self.topic_name + ' : ' + object_to_pick)
rospy.sleep(0.2)
return 'success'
def execute(self, userdata):
result = PickObjectWBCResult()
result.success = self.result
userdata.pick_object_wbc_result = result
return 'succeeded'