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00001 #!/usr/bin/env python 00002 """ 00003 Description: 00004 00005 Usage: 00006 $> ./executive_step_01.py 00007 00008 Output: 00009 [ERROR] : InvalidTransitionError: State machine failed consistency check: 00010 No initial state set. 00011 00012 Available states: [] 00013 [ERROR] : Container consistency check failed. 00014 [ERROR] : InvalidTransitionError: State machine failed consistency check: 00015 No initial state set. 00016 00017 Available states: [] 00018 [ERROR] : Container consistency check failed. 00019 """ 00020 00021 import roslib; roslib.load_manifest('smach_tutorials') 00022 import rospy 00023 import smach 00024 00025 def main(): 00026 rospy.init_node('smach_usecase_step_01') 00027 00028 # Create a SMACH state machine 00029 sm0 = smach.StateMachine(outcomes=[]) 00030 00031 # Open the container 00032 with sm0: 00033 pass 00034 00035 # Execute SMACH tree 00036 outcome = sm0.execute() 00037 00038 # Signal ROS shutdown (kill threads in background) 00039 rospy.signal_shutdown('All done.') 00040 00041 if __name__ == '__main__': 00042 main()