示例#1
0
def multiple_goals_starter():

    rospy.init_node('multiple_goals_starter')

#    wfg = WaitForGoalState() # We don't want multiple subscribers so we need one WaitForGoal state

    runner = Runner(rgoap_subclasses)
    sm = util.simple_state_wrapper(AutonomousRGOAPState(runner))

    print sm

    util.execute_smach_container(sm, True, '/MULTIPLE_GOALS')

    print 'DONE!'
示例#2
0
 def exec_state(state):
     sm = simple_state_wrapper(state)
     return execute_smach_container(sm, userdata=ud)
示例#3
0
 def exec_state(state):
     sm = simple_state_wrapper(state)
     return execute_smach_container(sm, userdata=ud)