actionlib.py
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00001 #!/usr/bin/env python
00002 """
00003 Description:
00004     Spawn an actionlib action server, then create a state machine that sends
00005     some goals to the action server that will automatically succeed or abort.
00006     We expect the first goal to succeed, and the second goal to abort, so
00007     when the second goal aborts, we map that onto success of the state
00008     machine.
00009 
00010 Usage:
00011     $> ./actionlib.py
00012 
00013 Output:
00014     [INFO] : State machine starting in initial state 'GOAL_DEFAULT' with userdata: 
00015         []
00016     [WARN] : Still waiting for action server 'test_action' to start... is it running?
00017     [INFO] : State machine transitioning 'GOAL_DEFAULT':'succeeded'-->'GOAL_STATIC'
00018     [INFO] : State machine terminating 'GOAL_STATIC':'aborted':'succeeded'
00019 """
00020 
00021 import roslib; roslib.load_manifest('asmach_tutorials')
00022 import rospy
00023 import asmach as smach
00024 import smach_ros
00025 
00026 from actionlib import *
00027 from actionlib.msg import *
00028 
00029 # Create a trivial action server
00030 class TestServer:
00031     def __init__(self,name):
00032         self._sas = SimpleActionServer(name,
00033                 TestAction,
00034                 execute_cb=self.execute_cb)
00035 
00036     def execute_cb(self, msg):
00037         if msg.goal == 0:
00038             self._sas.set_succeeded()
00039         elif msg.goal == 1:
00040             self._sas.set_aborted()
00041         elif msg.goal == 2:
00042             self._sas.set_preempted()
00043 
00044 def main():
00045     rospy.init_node('smach_example_actionlib')
00046 
00047     # Start an action server
00048     server = TestServer('test_action')
00049 
00050     # Create a SMACH state machine
00051     sm0 = smach.StateMachine(outcomes=['succeeded','aborted','preempted'])
00052 
00053     # Open the container
00054     with sm0:
00055         # Add states to the container
00056 
00057         # Add a simple action sttate. This will use an emtpy, default goal
00058         # As seen in TestServer above, an empty goal will always return with
00059         # GoalStatus.SUCCEEDED, causing this simple action state to return
00060         # the outcome 'succeeded'
00061         smach.StateMachine.add('GOAL_DEFAULT',
00062                 smach_ros.SimpleActionState('test_action', TestAction),
00063                 {'succeeded':'GOAL_STATIC'})
00064 
00065         # Add another simple action state. This will give a goal
00066         # that should abort the action state when it is received, so we
00067         # map 'aborted' for this state onto 'succeeded' for the state machine.
00068         smach.StateMachine.add('GOAL_STATIC',
00069                 smach_ros.SimpleActionState('test_action', TestAction,
00070                     goal = TestGoal(goal=1)),
00071                 {'aborted':'succeeded'})
00072 
00073         # For more examples on how to set goals and process results, see 
00074         # executive_python/smach/tests/smach_actionlib.py
00075 
00076     # Execute SMACH plan
00077     outcome = sm0.execute()
00078 
00079     rospy.signal_shutdown('All done.')
00080 
00081 if __name__ == '__main__':
00082     main()


asmach_tutorials
Author(s): Jonathan Bohren
autogenerated on Wed Sep 16 2015 04:38:38