{% from "Utils.tpl.py" import render_transitions, render_remapping %}
{% block class_defs %}
# define state Bar
class Bar(smach.State):
def __init__(self):
smach.State.__init__(self,
outcomes=['outcome1']{% if remapping is defined %},
input_keys=['bar_counter_in']{% endif %})
def execute(self, userdata):
rospy.loginfo('Executing state {{ name }}'){% if remapping is defined %}
rospy.loginfo('Counter = %f'%userdata.bar_counter_in){% endif %}
return 'outcome1'
{% endblock class_defs %}
{% block body %}
smach.{{ parent_type }}.add('{{ name }}', Bar(){% if transitions is defined %},
{{ render_transitions(transitions) }}{% endif %}{% if remapping is defined %},
{{ render_remapping(remapping) }}{% endif %})
{% endblock body %}
{% from "Utils.tpl.py" import render_transitions %}
{% block class_defs %}
# define state Bas
class Bas(smach.State):
def __init__(self):
smach.State.__init__(self, outcomes=['outcome3'])
def execute(self, userdata):
print('Executing state {{ name }}')
return 'outcome3'
{% endblock class_defs %}
{% block body %}
smach.{{ parent_type }}.add('{{ name }}', Bas(),
{{ render_transitions(transitions) }})
{% endblock body %}
{% extends "State.tpl.py" %}
{% block imports %}
{{ super() }}
{{ import_module(defined_headers, 'rospy') }}
{% endblock imports %}
{% block class_defs %}
{{ super() }}
{% if 'class_SleepState' not in defined_headers %}
class SleepState(smach.State):
def __init__(self, time, input_keys = [], output_keys = [], callbacks = [], outcomes=['succeeded']):
smach.State.__init__(self, input_keys=input_keys, output_keys=output_keys, outcomes=outcomes)
self._time = time
def execute(self, userdata):
rospy.sleep(self._time)
return 'succeeded'
{% do defined_headers.append('class_SleepState') %}{% endif %}
{% endblock class_defs %}
{% block body %}
smach.{{ parent_type }}.add('{{ name }}',
{{ '' | indent(23, true) }}SleepState({{ time }}){% if transitions is defined %},
{{ render_transitions(transitions) }}{% endif %})
{% endblock body %}
