def main():
rospy.init_node('smach_usecase_step_02')
# Create a SMACH state machine
sm0 = StateMachine(outcomes=['succeeded','aborted','preempted'])
# Open the container
with sm0:
# Reset turtlesim
StateMachine.add('RESET',
ServiceState('reset', std_srvs.srv.Empty),
{'succeeded':'SPAWN'})
# Create a second turtle
StateMachine.add('SPAWN',
ServiceState('spawn', turtlesim.srv.Spawn,
request = turtlesim.srv.SpawnRequest(0.0,0.0,0.0,'turtle2')))
# Attach a SMACH introspection server
sis = IntrospectionServer('smach_usecase_01', sm0, '/USE_CASE')
sis.start()
# Execute SMACH tree
outcome = sm0.execute()
# Signal ROS shutdown (kill threads in background)
rospy.spin()
sis.stop()
