import rospy
import actionlib
from std_srvs.srv import Empty, EmptyResponse
from pal_control_msgs.msg import MotionManagerGoal, MotionManagerAction
def hand_initialize(name):
rospy.wait_for_service(name)
try:
hand_init = rospy.ServiceProxy(name, Empty)
resp1 = hand_init()
return resp1
except rospy.ServiceException, e:
print "Service call failed: %s"%e
if __name__ == "__main__":
rospy.init_node('calibrator')
client = actionlib.SimpleActionClient('/motion_manager', MotionManagerAction)
client.wait_for_server()
goal = MotionManagerGoal()
goal.filename = '/mnt_flash/etc/control/robot/reemh3/motion/start_reem.xml'
goal.checkSafety = True
goal.repeat = False
goal.priority = 0
goal.queueTimeout = 0
client.send_goal(goal)
client.wait_for_result()
hand_initialize ('/rightHandDeviceInitializerStart')
hand_initialize ('/leftHandDeviceInitializerStart')
def main():
rospy.init_node("robot_inspection")
# Create a SMACH state machine
sm = smach.StateMachine(["succeeded", "aborted", "preempted"])
with sm: # FIXME Do all the speak actions and motion actions simultanously??
smach.StateMachine.add(
"CLOSE_HAND", CloseReemHand(), transitions={"succeeded": "STARTING_SPEECH", "aborted": "STARTING_SPEECH"}
)
## Indicate that we are starting
smach.StateMachine.add(
"STARTING_SPEECH",
SpeakActionState(
text="I am ready to start the registration. I will now go to the registration desk.",
wait_before_speaking=Duration(1.0),
),
transitions={"succeeded": "ENTER_ROOM", "aborted": "ENTER_ROOM"},
)
# Enters into the room through the door
smach.StateMachine.add(
"ENTER_ROOM",
EnterRoomStateMachine(distance=DOOR_DISTANCE, orient_after_passing=0.0),
transitions={"succeeded": "ENABLE_REEM_ALIVE"},
)
smach.StateMachine.add(
"ENABLE_REEM_ALIVE",
ServiceState("/alive_engine/start", Empty),
transitions={"succeeded": "MOVE_TO_REG_TABLE", "aborted": "MOVE_TO_REG_TABLE"},
)
# Go to table
sm.userdata.registration_table = REGISTRATION_TABLE_NAME
smach.StateMachine.add(
"MOVE_TO_REG_TABLE",
MoveToRoomStateMachine(announcement=None),
transitions={"succeeded": "DISABLE_REEM_ALIVE", "aborted": "MOVE_TO_REG_TABLE"},
remapping={"room_name": "registration_table"},
)
smach.StateMachine.add(
"DISABLE_REEM_ALIVE",
ServiceState("/alive_engine/stop", Empty),
transitions={"succeeded": "MOVE_TO_BOW", "aborted": "MOVE_TO_BOW"},
)
# Bow to face
filename = MOTION_FOLDER_PATH + "bow.xml"
bow_motion_goal = MotionManagerGoal()
bow_motion_goal.plan = False
bow_motion_goal.filename = filename
bow_motion_goal.checkSafety = False
bow_motion_goal.repeat = False
bow_motion_goal.priority = 0
bow_action = SimpleActionState("/motion_manager", MotionManagerAction, goal=bow_motion_goal)
smach.StateMachine.add(
"MOVE_TO_BOW", bow_action, transitions={"succeeded": "PRESENT_REEM", "aborted": "PRESENT_REEM"}
)
# Present the robot and the team
present_text = "Hi everybody! My name is REEM. I came here with my teammates from the REEM_@_EERI team!"
smach.StateMachine.add(
"PRESENT_REEM",
SpeakActionState(text=present_text, wait_before_speaking=Duration(0.2)),
transitions={"succeeded": "START_PRESENT", "aborted": "PRESENT_REEM"},
)
# Deliver the form and say something funny
take_it_text = "Oh, you look really good today! This is my registration form. Please, take it."
smach.StateMachine.add(
"SAY_HERE_CV",
SpeakActionState(text=take_it_text, wait_before_speaking=Duration(0.10)),
transitions={"succeeded": "OPEN_HAND", "aborted": "SAY_HERE_CV"},
)
smach.StateMachine.add(
"START_PRESENT",
SpeakAndMotionActionConcurrentSM(
filename=MOTION_FOLDER_PATH + "robocup_start_presentation.xml",
checksafety=False,
plan=False,
text=take_it_text,
),
transitions={"succeeded": "OPEN_HAND", "aborted": "SAY_HERE_CV"},
)
smach.StateMachine.add(
"OPEN_HAND", OpenReemHand2(), transitions={"succeeded": "SAY_READ_AND_MID", "aborted": "SAY_READ_AND_MID"}
)
read_this = "Please, can you read the form and tell my mates if there's anything wrong."
smach.StateMachine.add(
"SAY_READ_AND_MID",
SpeakAndMotionActionConcurrentSM(
filename=MOTION_FOLDER_PATH + "robocup_middle_presentation.xml",
checksafety=False,
plan=False,
text=read_this,
wait_before_speaking=Duration(1.0),
),
transitions={"succeeded": "END_PRESENTATION_AND_THANK", "aborted": "SAY_HERE_CV"},
)
thank_you = "Thank you. Tell me when I should leave the arena."
smach.StateMachine.add(
"END_PRESENTATION_AND_THANK",
SpeakAndMotionActionConcurrentSM(
filename=MOTION_FOLDER_PATH + "robocup_end_presentation.xml",
checksafety=False,
plan=False,
text=thank_you,
wait_before_speaking=Duration(0.8),
),
transitions={"succeeded": "RE_ENABLE_REEM_ALIVE", "aborted": "SAY_HERE_CV"},
)
smach.StateMachine.add(
"RE_ENABLE_REEM_ALIVE",
ServiceState("/alive_engine/start", Empty),
transitions={"succeeded": "WAIT_LISTEN_ORDER", "aborted": "WAIT_LISTEN_ORDER"},
)
smach.StateMachine.add(
"WAIT_LISTEN_ORDER",
RecogCommand(
GRAMMAR_NAME="robocup/room",
command_key="location",
command_value=LEAVING_DOOR_NAME,
ask_for_confirmation=False,
),
transitions={"succeeded": "BABY_DONT_HURT_ME", "aborted": "ASK_TO_REPEAT"},
)
repeat_pool = [
"Pardon?",
"Can you repeat the name, please?",
"I'm sorry I didn't understand you. Can you repeat that?",
"I didn't get it. Can you please repeat?",
]
smach.StateMachine.add(
"ASK_TO_REPEAT",
SpeakActionFromPoolStateMachine(repeat_pool),
transitions={"succeeded": "WAIT_LISTEN_ORDER", "aborted": "WAIT_LISTEN_ORDER"},
)
baby_dont_hurt_me = "Okay. Please, Don't hurt me when you hit the emergency button."
smach.StateMachine.add(
"BABY_DONT_HURT_ME",
SpeakActionState(text=baby_dont_hurt_me, wait_before_speaking=Duration(0.20)),
transitions={"succeeded": "SAY_AND_DO_BYE", "aborted": "SAY_HERE_CV"},
)
# Say Bye bye and move the hand
smach.StateMachine.add(
"SAY_AND_DO_BYE",
SpeakAndMotionActionConcurrentSM(
filename=MOTION_FOLDER_PATH + "wave.xml",
checksafety=False,
plan=True,
text="Bye Bye!",
wait_before_speaking=Duration(2.1),
),
transitions={"succeeded": "INTERACT_POS", "aborted": "INTERACT_POS"},
)
interact_goal = MotionManagerGoal()
interact_goal.plan = True
interact_goal.filename = filename
interact_goal.checkSafety = False
interact_goal.repeat = False
interact_goal.priority = 0
interact_goal.filename = MOTION_FOLDER_PATH + "interact.xml"
smach.StateMachine.add(
"INTERACT_POS",
SimpleActionState("/motion_manager", MotionManagerAction, goal=interact_goal),
transitions={"succeeded": "SLOW_SPEED", "aborted": "INTERACT_POS"},
)
def slow_speed(userdata):
node_to_reconfigure = "/move_base/PalLocalPlanner"
client = dynamic_reconfigure.client.Client(node_to_reconfigure)
new_params = {"max_vel_x": 0.2}
client.update_configuration(new_params)
return "succeeded"
smach.StateMachine.add(
"SLOW_SPEED", smach.CBState(slow_speed, outcomes=["succeeded"]), transitions={"succeeded": "GO_PRE_EXIT"}
)
# Go to the leaving door
sm.userdata.pre_exit_door = PRE_EXIT_NAME
smach.StateMachine.add(
"GO_PRE_EXIT",
MoveToRoomStateMachine(announcement=None),
transitions={"succeeded": "STOP_REEM_ALIVE", "aborted": "CANT_LEAVE"},
remapping={"room_name": "pre_exit_door"},
)
smach.StateMachine.add(
"STOP_REEM_ALIVE",
ServiceState("/alive_engine/stop", Empty),
transitions={"succeeded": "CROSSING_DOOR_POS", "aborted": "CROSSING_DOOR_POS"},
)
rest_goal = MotionManagerGoal()
rest_goal.plan = True
rest_goal.filename = filename
rest_goal.checkSafety = False
rest_goal.repeat = False
rest_goal.priority = 0
rest_goal.filename = MOTION_FOLDER_PATH + "rest.xml"
smach.StateMachine.add(
"CROSSING_DOOR_POS",
SimpleActionState("/motion_manager", MotionManagerAction, goal=rest_goal),
transitions={"succeeded": "LEAVE_ARENA", "aborted": "CROSSING_DOOR_POS"},
)
sm.userdata.exit_door = LEAVING_DOOR_NAME
smach.StateMachine.add(
"LEAVE_ARENA",
MoveToRoomStateMachine(announcement=None),
transitions={"succeeded": "succeeded", "aborted": "LEAVE_ARENA"},
remapping={"room_name": "exit_door"},
)
cant_leave = "Emergency button was pressed, retrying to leave the arena."
smach.StateMachine.add(
"CANT_LEAVE",
SpeakActionState(text=cant_leave, wait_before_speaking=Duration(0.0)),
transitions={"succeeded": "GO_PRE_EXIT", "aborted": "GO_PRE_EXIT"},
)
# Create and start the introspection server
sis = smach_ros.IntrospectionServer("server_name", sm, "/SM_ROOT")
sis.start()
# Execute the state machine
sm.execute()
# Wait for ctrl-c to stop the application
rospy.spin()
sis.stop()
