def __init__(self,minConfidence=90): smach.StateMachine.__init__(self, outcomes=['succeeded', 'aborted', 'preempted'], input_keys=['object_name'], output_keys=['standard_error','objectd']) with self: smach.StateMachine.add( 'detect_object', detect_object(minConfidence), transitions={'succeeded': 'proces_object', 'aborted': 'aborted', 'preempted': 'preempted'}) smach.StateMachine.add( 'proces_object', proces_object(), transitions={'succeeded': 'succeeded', 'aborted': 'aborted', 'preempted': 'preempted'})
def main(): rospy.init_node('recognize_obect_test') sm = smach.StateMachine(outcomes=['succeeded', 'preempted', 'aborted']) with sm: # smach.StateMachine.add( # 'prepare_object', # prepare_detect_object(), # transitions={'succeeded': 'detect_object','aborted' : 'aborted_info'}) # it call the learn state smach.StateMachine.add('detect_object', detect_object(), transitions={ 'succeeded': 'detect_print', 'aborted': 'aborted_info' }) # it prints the standard error smach.StateMachine.add('aborted_info', recognize_Object_print(), transitions={ 'succeeded': 'succeeded', 'aborted': 'aborted' }) # it prints the standard error sm.userdata.object = None smach.StateMachine.add('detect_print', recognize_Object_print(), transitions={ 'succeeded': 'aborted_info', 'aborted': 'aborted_info' }) # This is for the smach_viewer so we can see what is happening, rosrun smach_viewer smach_viewer.py it's cool! sis = smach_ros.IntrospectionServer('detect_object_introspection', sm, '/DFI_ROOT') sis.start() sm.execute() rospy.spin() sis.stop()
def main(): rospy.init_node('recognize_obect_test') sm = smach.StateMachine(outcomes=['succeeded', 'preempted', 'aborted']) with sm: # smach.StateMachine.add( # 'prepare_object', # prepare_detect_object(), # transitions={'succeeded': 'detect_object','aborted' : 'aborted_info'}) # it call the learn state smach.StateMachine.add( 'detect_object', detect_object(), transitions={'succeeded': 'detect_print','aborted' : 'aborted_info'}) # it prints the standard error smach.StateMachine.add( 'aborted_info', recognize_Object_print(), transitions={'succeeded': 'succeeded', 'aborted':'aborted'}) # it prints the standard error sm.userdata.object=None smach.StateMachine.add( 'detect_print', recognize_Object_print(), transitions={'succeeded': 'aborted_info', 'aborted':'aborted_info'}) # This is for the smach_viewer so we can see what is happening, rosrun smach_viewer smach_viewer.py it's cool! sis = smach_ros.IntrospectionServer( 'detect_object_introspection', sm, '/DFI_ROOT') sis.start() sm.execute() rospy.spin() sis.stop()
def __init__(self, minConfidence=90): smach.StateMachine.__init__( self, outcomes=['succeeded', 'aborted', 'preempted'], input_keys=['object_name'], output_keys=['standard_error', 'objectd']) with self: smach.StateMachine.add('detect_object', detect_object(minConfidence), transitions={ 'succeeded': 'proces_object', 'aborted': 'aborted', 'preempted': 'preempted' }) smach.StateMachine.add('proces_object', proces_object(), transitions={ 'succeeded': 'succeeded', 'aborted': 'aborted', 'preempted': 'preempted' })