user_data2.py
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00001 #!/usr/bin/env python
00002 
00003 import roslib; roslib.load_manifest('asmach_tutorials')
00004 import rospy
00005 import asmach as smach
00006 import smach_ros
00007 
00008 # define state Foo
00009 class Foo(smach.State):
00010     def __init__(self):
00011         smach.State.__init__(self, 
00012                              outcomes=['outcome1','outcome2'],
00013                              input_keys=['foo_counter_in'],
00014                              output_keys=['foo_counter_out'])
00015 
00016     def execute(self, userdata):
00017         rospy.loginfo('Executing state FOO')
00018         if userdata.foo_counter_in < 3:
00019             userdata.foo_counter_out = userdata.foo_counter_in + 1
00020             return 'outcome1'
00021         else:
00022             return 'outcome2'
00023 
00024 
00025 # define state Bar
00026 class Bar(smach.State):
00027     def __init__(self):
00028         smach.State.__init__(self, 
00029                              outcomes=['outcome1'],
00030                              input_keys=['bar_counter_in'])
00031         
00032     def execute(self, userdata):
00033         rospy.loginfo('Executing state BAR')
00034         rospy.loginfo('Counter = %f'%userdata.bar_counter_in)        
00035         return 'outcome1'
00036         
00037 
00038 
00039 
00040 
00041 def main():
00042     rospy.init_node('smach_example_state_machine')
00043 
00044     # Create a SMACH state machine
00045     sm = smach.StateMachine(outcomes=['outcome4'])
00046     sm.userdata.sm_counter = 0
00047 
00048     # Open the container
00049     with sm:
00050         # Add states to the container
00051         smach.StateMachine.add('FOO', Foo(), 
00052                                transitions={'outcome1':'BAR', 
00053                                             'outcome2':'outcome4'},
00054                                remapping={'foo_counter_in':'sm_counter', 
00055                                           'foo_counter_out':'sm_counter'})
00056         smach.StateMachine.add('BAR', Bar(), 
00057                                transitions={'outcome1':'FOO'},
00058                                remapping={'bar_counter_in':'sm_counter'})
00059 
00060 
00061     # Execute SMACH plan
00062     outcome = sm.execute()
00063 
00064 
00065 if __name__ == '__main__':
00066     main()


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