def __init__(self,msg=None): State.__init__(self, outcomes=['succeeded',"succeeded",'preempted']) # self.pub=rospy.Publisher('serial_switch_model',xm_SerialSwitchMode,queue_size=5 ) # self.msg=xm_SerialSwitchMode() # self.msg.data=msg self.ser=rospy.ServiceProxy("serialswitchmode",xm_SerialSwitchMode) self.msg = msg
def __init__(self, speed, goal): State.__init__(self, outcomes=["full_rotate", "not_full_rotate"]) # Initialize the tf listener self.tf_listener = tf.TransformListener() # Give tf some time to fill its buffer rospy.sleep(2) # Set the odom frame self.odom_frame = "/odom" # Find out if the robot uses /base_link or /base_footprint try: self.tf_listener.waitForTransform(self.odom_frame, "/base_footprint", rospy.Time(), rospy.Duration(1.0)) self.base_frame = "/base_footprint" except (tf.Exception, tf.ConnectivityException, tf.LookupException): try: self.tf_listener.waitForTransform(self.odom_frame, "/base_link", rospy.Time(), rospy.Duration(1.0)) self.base_frame = "/base_link" except (tf.Exception, tf.ConnectivityException, tf.LookupException): rospy.loginfo("Cannot find transform between /odom and /base_link or /base_footprint") rospy.signal_shutdown("tf Exception") self.cmd_vel = rospy.Publisher("cmd_vel", Twist) self.r = rospy.Rate(20) self.angular_speed = speed self.angular_tolerance = radians(2.5) self.goal_angle = goal
def __init__(self): State.__init__(self, outcomes=['succeeded','aborted','preempted'], input_keys=['speed','distance']) self.cmd_vel_pub = rospy.Publisher('/PETIT/cmd_vel', Twist) self.pause_pub = rospy.Publisher('/PETIT/pause_pathwrapper', Empty) self.resume_pub = rospy.Publisher('/PETIT/resume_pathwrapper', Empty) pass
def __init__(self): State.__init__(self, outcomes=['succeeded','aborted','preempted']) self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction) # Wait up to 60 seconds for the action server to become available self.move_base.wait_for_server(rospy.Duration(60)) rospy.loginfo("Connected to move_base action server")
def __init__(self): self.object_detector = ObjectDetector() self.collision_map_processing_srv = rospy.ServiceProxy('/tabletop_collision_map_processing/tabletop_collision_map_processing', TabletopCollisionMapProcessing) State.__init__(self, outcomes=['found_clusters','no_clusters'], output_keys=['segmentation_result','cluster_information'])
def __init__(self): self.policy = [ #InfomaxAction.GRASP, #InfomaxAction.LIFT, #InfomaxAction.SHAKE_ROLL, #InfomaxAction.SHAKE_PITCH, InfomaxAction.DROP, ] self.action_to_outcome = { InfomaxAction.GRASP: 'grasp', InfomaxAction.LIFT: 'lift', InfomaxAction.SHAKE_ROLL: 'shake_roll', InfomaxAction.SHAKE_PITCH: 'shake_pitch', InfomaxAction.DROP: 'drop', } State.__init__(self, outcomes=['grasp', 'lift', 'shake_roll', 'shake_pitch', 'drop', 'aborted'], input_keys=['action_index_in'], output_keys=['infomax_action_id', 'action_index_out'])
def __init__(self, input_keys=['arm', 'action', 'lift']): action_uri = 'imgui_action' self.action_client = actionlib.SimpleActionClient(action_uri, IMGUIAction) rospy.loginfo("waiting for %s"%action_uri) self.action_client.wait_for_server() rospy.loginfo("%s found"%action_uri) State.__init__(self, outcomes=['succeeded', 'failed'], input_keys = input_keys)
def __init__(self, room, timer): State.__init__(self, outcomes=['succeeded','aborted','preempted']) self.task = 'mop_floor' self.room = room self.timer = timer self.cmd_vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=5)
def __init__(self, room, timer): State.__init__(self, outcomes=["succeeded", "aborted", "preempted"]) self.task = "mop_floor" self.room = room self.timer = timer self.cmd_vel_pub = rospy.Publisher("cmd_vel", Twist)
def __init__(self, position, orientation): State.__init__(self, outcomes=['success']) #global pub # Get an action client self.client = actionlib.SimpleActionClient('move_base', MoveBaseAction) self.client.wait_for_server() # Define the goal self.goal = MoveBaseGoal() self.goal.target_pose.header.frame_id = '/map' self.goal.target_pose.pose.position.x = position[0] self.goal.target_pose.pose.position.y = position[1] self.goal.target_pose.pose.position.z = 0.0 self.goal.target_pose.pose.orientation.x = orientation[0] self.goal.target_pose.pose.orientation.y = orientation[1] self.goal.target_pose.pose.orientation.z = orientation[2] self.goal.target_pose.pose.orientation.w = orientation[3] #publlish waypoint self.target_pose = PoseStamped() self.target_pose.header.frame_id = '/map' self.target_pose.pose.position.x = position[0] self.target_pose.pose.position.y = position[1] self.target_pose.pose.position.z = 0.0 self.target_pose.pose.orientation.x = orientation[0] self.target_pose.pose.orientation.y = orientation[1] self.target_pose.pose.orientation.z = orientation[2] self.target_pose.pose.orientation.w = orientation[3]
def __init__(self, topic, msg_type, max_checks = -1): State.__init__(self, outcomes=['invalid','valid','preempted']) self._topic = topic self._msg_type = msg_type self._cond_cb = self.execute_cb self._max_checks = max_checks self._n_checks = 0 self._trigger_cond = threading.Condition() self.bridge = CvBridge() rospy.sleep(1) self.task = 'Face Detection' cv.NamedWindow(self.task, cv.CV_WINDOW_NORMAL) # cv.ResizeWindow(self.task, 640, 480) # cv2.imshow(self.task, np.zeros((480,640), dtype = np.uint8)) rospy.loginfo("waiting for images...") pkg_path = rospkg.RosPack().get_path('ros_project') cascade_1 = pkg_path+"/data/haar_detectors/haarcascade_frontalface_alt.xml" self.cascade1 = cv2.CascadeClassifier(cascade_1) cascade_2 = pkg_path+"/data/haar_detectors/haarcascade_frontalface_alt2.xml" self.cascade2 = cv2.CascadeClassifier(cascade_2) cascade_3 = pkg_path+"/data/haar_detectors/haarcascade_profileface.xml" self.cascade3 = cv2.CascadeClassifier(cascade_3) self.haar_params = dict(scaleFactor = 1.3,minNeighbors = 3, flags = cv.CV_HAAR_DO_CANNY_PRUNING, minSize = (30, 30),maxSize = (150, 150))
def __init__(self, input_keys=["map", "unattached_objects", "attached_objects", "arm"]): action_uri = "imgui_action" self.action_client = actionlib.SimpleActionClient(action_uri, IMGUIAction) rospy.loginfo("waiting for %s" % action_uri) self.action_client.wait_for_server() rospy.loginfo("%s found" % action_uri) State.__init__(self, outcomes=["succeeded", "failed"], input_keys=input_keys)
def __init__(self, room, timer): State.__init__(self, outcomes=['succeeded','aborted','preempted']) self.task = 'scrub_tub' self.room = room self.timer = timer self.cmd_vel_pub = rospy.Publisher('cmd_vel', Twist)
def __init__(self, input_keys=['arm', 'object_id']): action_uri = 'pickup_im_object_action' self.pickup_client = actionlib.SimpleActionClient(action_uri, PickupIMObjectAction) rospy.loginfo("waiting for %s"%action_uri) self.pickup_client.wait_for_server() rospy.loginfo("%s found"%action_uri) State.__init__(self, outcomes=['succeeded', 'failed'], input_keys = input_keys)
def __init__(self, question, resp=True): State.__init__(self, outcomes=['yes', 'no']) self.resp = 'yes' if resp else 'no' if resp: self.prompt = '%s [%s]|%s: ' % (question, 'y', 'n') else: self.prompt = '%s [%s]|%s: ' % (question, 'n', 'y')
def __init__(self): State.__init__(self, input_keys=['clusters', 'bounding_boxes', 'names', 'response'], output_keys=['response'], outcomes=['done'])
def __init__(self, topic_name, topic_type, output_key_name='topic_data', timeout=None): State.__init__(self, outcomes=['succeeded', 'timeouted', 'preempted'], output_keys=[output_key_name]) self._topic = topic_name self._topic_type = topic_type self._timeout = rospy.Duration(timeout) if timeout else None self._topic_data = None self._output_key_name = output_key_name self._mutex = threading.Lock()
def __init__(self, smm): State.__init__(self, outcomes=["clear_front", "clear_left", "clear_right", "blocked", "unknown"]) self.smm = smm
def __init__(self): self.posture_controller = SimpleActionClient('/wubble_gripper_grasp_action', GraspHandPostureExecutionAction) self.gripper_controller = SimpleActionClient('/wubble_gripper_action', WubbleGripperAction) self.ready_arm_client = SimpleActionClient('/ready_arm', ReadyArmAction) self.collision_map_processing_srv = rospy.ServiceProxy('/tabletop_collision_map_processing/tabletop_collision_map_processing', TabletopCollisionMapProcessing) self.get_grasp_status_srv = rospy.ServiceProxy('/wubble_grasp_status', GraspStatus) State.__init__(self, output_keys=['action_index'], outcomes=['succeeded','aborted'])
def __init__(self, square_topic='/nao_square', timeout=3.0, sleeptime=2.0): State.__init__(self, outcomes=['succeeded', 'aborted'], output_keys=['square']) self._topic = square_topic self._square = None self._squareBuffer = [] self._countBuffer = 0 self._timeout = rospy.Duration(timeout) self._sleeptime = sleeptime
def __init__(self, dataset, object_id): State.__init__(self, outcomes=['stored'], input_keys=['bounding_boxes', 'clusters', 'mean', 'median', 'points']) base = roslib.packages.get_pkg_dir(PACKAGE) self.dataset = Dataset(join(base, 'common', 'data'), dataset) self.object_id = object_id
def __init__(self, value): State.__init__(self, outcomes=['succeeded','aborted','preempted']) self.value = value self.distance_pub = rospy.Publisher('/PETIT/alpha_ardu', Int32) self.pause_pub = rospy.Publisher('/PETIT/pause_pathwrapper', Empty) self.resume_pub = rospy.Publisher('/PETIT/resume_pathwrapper', Empty) pass
def __init__(self): State.__init__(self, outcomes=["succeeded", "aborted", "preempted"]) self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction) self.pub = rospy.Publisher("speech", String) # Wait up to 60 seconds for the action server to become available self.move_base.wait_for_server(rospy.Duration(60)) rospy.loginfo("Connected to move_base action server")
def __init__(self, input_keys=['frame_id', 'x', 'y', 'theta', 'collision_aware']): move_base_uri = '/move_base' self.move_base_node_name = rospy.get_param('move_base_node_name', '/move_base_node') self.move_base_client = actionlib.SimpleActionClient(move_base_uri, mbm.MoveBaseAction) rospy.loginfo("waiting for move base server") self.move_base_client.wait_for_server() rospy.loginfo("move base server found") self.cmd_vel_pub = rospy.Publisher("base_controller/command", gm.Twist) State.__init__(self, outcomes = ['succeeded', 'failed', 'preempted', 'error'], input_keys = input_keys)
def __init__(self, input_keys=['target_x', 'target_y', 'camera_info_topic']): action_uri = '/head_traj_controller/point_head_action' self.point_head_client = actionlib.SimpleActionClient(action_uri, PointHeadAction) rospy.loginfo("waiting for %s"%action_uri) self.point_head_client.wait_for_server() rospy.loginfo("%s found"%action_uri) State.__init__(self, outcomes=['succeeded', 'failed', 'preempted'], input_keys = input_keys) self.head_timeout = rospy.get_param('~head_timeout', PointHeadInImage.HEAD_TIMEOUT_DEFAULT)
def __init__(self): State.__init__(self, outcomes=['succeeded']) self.ON_pub = rospy.Publisher('/MILIGHT/light3ON', Empty) self.ON2_pub = rospy.Publisher('/MILIGHT/light2ON', Empty) self.heatON_pub = rospy.Publisher('/HOME/showerHeatON', Empty) self.heatOFF_pub = rospy.Publisher('/HOME/showerHeatOFF', Empty) self.weather_pub = rospy.Publisher('/NESTOR/weather', Empty) self.french_pub = rospy.Publisher('/NESTOR/french_voice', String) self.music_pub = rospy.Publisher('/NESTOR/radio_jap', Empty)
def __init__(self, input_keys=['position']): action_uri = '/torso_controller/position_joint_action' self.torso_client = actionlib.SimpleActionClient(action_uri, SingleJointPositionAction) rospy.loginfo("waiting for %s"%action_uri) self.torso_client.wait_for_server() rospy.loginfo("%s found"%action_uri) State.__init__(self, outcomes=['succeeded', 'failed', 'preempted'], input_keys = input_keys) self.torso_timeout = rospy.get_param('~torso_timeout', MoveTorso.TORSO_TIMEOUT_DEFAULT)
def __init__(self, pool=None, max_tries=10): input_keys = [] if not pool: input_keys = ['pool'] State.__init__(self, outcomes=['succeeded'], output_keys=['selected_item'], input_keys=input_keys) self._pool = pool self._lenpool = len(pool) if pool else None self._lastSelection = None self._MAX_TRIES = max_tries
def __init__(self): State.__init__(self, outcomes=['succeeded']) self.OFF1_pub = rospy.Publisher('/MILIGHT/light1OFF', Empty) self.brightness1_pub = rospy.Publisher('/MILIGHT/light1Brightness', Int32) self.OFF2_pub = rospy.Publisher('/MILIGHT/light2OFF', Empty) self.brightness2_pub = rospy.Publisher('/MILIGHT/light2Brightness', Int32) self.OFF3_pub = rospy.Publisher('/MILIGHT/light3OFF', Empty) self.brightness3_pub = rospy.Publisher('/MILIGHT/light3Brightness', Int32) self.heatOFF_pub = rospy.Publisher('/HOME/showerHeatOFF', Empty) self.french_pub = rospy.Publisher('/NESTOR/french_voice', String)
def __init__(self): State.__init__(self, outcomes=['detect1','detect2','detect3','detect4','detect5','detect6']) self.taskname="doing the computer vision task" # initialize a subscriber of ar_pose_marker rospy.Subscriber("ar_pose_marker", AlvarMarkers, self.my_listener) self.tag_ids = [0,1,2,3,4,5,6] self.marker_table_dictionary = {1:'detect1', 2:'detect2', 3:'detect3', 4:'detect4', 5:'detect5', 6:'detect6'} self.n_markers = 0; self.my_outcome = self.marker_table_dictionary[1];
def __init__(self, ltmc): State.__init__(self, output_keys=["location"], outcomes=['succeeded', 'aborted']) self.ltmc = ltmc
def __init__(self, angle): State.__init__(self, outcomes=['success']) sleep(1) self.angle = angle
def __init__(self, amount): State.__init__(self, outcomes=["succeeded"]) self.amount = amount
def __init__(self): State.__init__(self,outcomes=['succeeded','aborted','error'], input_keys=['gripper_mode']) self.obstacle_client = rospy.ServiceProxy('xm_obstacles',xm_Obstacles)
def __init__(self): State.__init__(self,outcomes=['succeeded','aborted'])
def __init__(self, distance): State.__init__(self, outcomes=['success']) self.distance = distance
def __init__(self): State.__init__(self,outcomes=['succeeded','aborted','error'], input_keys=['gripper_mode','arm_ps','objmode']) self.ik_client = rospy.ServiceProxy('xm_ik_solver',xm_SolveIK) self.tf_listener =tf.TransformListener()
def __init__(self): State.__init__(self, outcomes=['stop', 'aborted']) self.target_client = rospy.ServiceProxy('xm_speech_meaning', xm_Speech_meaning)
def __init__(self): State.__init__(self, outcomes=['succeeded', 'error'], input_keys=['arm_ps', 'arm_mode']) self.tf_listener = tf.TransformListener()
def __init__(self, square, cam_pixel_to_point ): # type: (ParkingSquare, CamPixelToPointServer) -> None State.__init__(self, outcomes=['ok'], input_keys=['green_shape']) self.feature_detector = FeatureDetector() self.cam_pixel_to_point = cam_pixel_to_point self.square = square
def __init__(self, square): # type: (ParkingSquare) -> None State.__init__(self, outcomes=['ok', 'shortcircuit']) self.square = square
def __init__(self): State.__init__(self, outcomes=['succeeded', 'aborted', 'preempt']) self.cmd_vel = rospy.Publisher( '/mobile_base/mobile_base_controller/cmd_vel', Twist, queue_size=1) self.twist_xm = Twist()
def __init__(self): State.__init__(self, outcomes=['succeeded', 'aborted']) self.tf_listener = tf.TransformListener()
def __init__(self): State.__init__(self, outcomes=['succeeded', 'aborted'], input_keys=['goal_id'], output_keys=['goal_id'])
def __init__(self): State.__init__(self, outcomes=['succeeded', 'aborted'], output_keys=['target', 'name'])
def __init__(self, radius_min=1, radius_max=3): State.__init__(self, outcomes=['succeeded'], output_keys=['x', 'y', 'yaw']) self.radius_min = radius_min self.radius_max = radius_max
def __init__(self): State.__init__(self, outcomes=["succeeded",'error'], input_keys=['rec'])
def __init__(self): State.__init__(self, outcomes=['succeeded', 'aborted', 'error'], input_keys=['arm_ps', 'arm_mode', 'objmode']) self.arm_client = rospy.ServiceProxy('arm_stack', xm_PickOrPlace)
def __init__(self): State.__init__(self,outcomes = ['succeeded','error'])
def __init__(self): State.__init__(self, outcomes=['success'])
def __init__(self): State.__init__(self,outcomes=['succeeded','aborted','error','preempted'], input_keys=['arm_mode'])
def __init__(self, mode): State.__init__(self, ['succeeded', 'aborted', 'preempted']) self.mode = mode self.control_mode = ControllerMode()
def __init__(self): State.__init__(self, outcomes=['succeeded', 'aborted', 'preempted'], input_keys=['waypoints'], output_keys=['waypoint_out'])
def __init__(self): State.__init__(self, outcomes=['succeeded', 'aborted', 'error'], input_keys=['name_list', 'name_id', 'name'])
def __init__(self, pose): State.__init__(self, outcomes=['1', '0'], input_keys=['input'], output_keys=['']) self.pose = pose
def __init__(self): State.__init__(self, outcomes=["succeeded", 'aborted', 'error'], input_keys=['name_id', 'name_list', 'target_list'], output_keys=['sentences'])
def __init__(self, ltmc, visitable="visitable"): State.__init__(self, output_keys=["location"], outcomes=['succeeded', 'aborted']) self.ltmc = ltmc self.visitable = visitable
def __init__(self): State.__init__(self, outcomes=['succeeded', 'aborted', 'error']) self.cv_client = rospy.ServiceProxy('get_object', xm_ObjectDetect)
def __init__(self): State.__init__(self, outcomes=['succeeded', 'error'], input_keys=['target_name'], io_keys=['target'])
def __init__(self): State.__init__(self, outcomes=['succeeded', 'aborted'], input_keys=['arm_state'])