Source Code for Package smach_ros

 1  # Copyright (c) 2010, Willow Garage, Inc. 
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26   
27  # ROS imports 
28  import roslib; roslib.load_manifest('smach_ros') 
29  import rospy 
30   
31  # SMACH 
32  import smach 
33   
34  __all__ = ['set_preempt_handler', 
35          'ActionServerWrapper', 
36          'IntrospectionClient','IntrospectionServer', 
37          'SimpleActionState', 
38          'ServiceState', 
39          'MonitorState', 
40          'ConditionState'] 
41   
42  # Setup smach-ros interface 
43  smach.set_loggers( 
44          rospy.loginfo, 
45          rospy.logwarn, 
46          rospy.logdebug, 
47          rospy.logerr) 
48   
49  smach.set_shutdown_check(rospy.is_shutdown) 
50   
51  ### Core classes 
52  from util import set_preempt_handler 
53   
54  ### Top-level Containers / Wrappers 
55  from action_server_wrapper import ActionServerWrapper 
56  from introspection import IntrospectionClient, IntrospectionServer 
57   
58  ### State Classes 
59  from simple_action_state import SimpleActionState 
60  from service_state import ServiceState 
61  from monitor_state import MonitorState 
62  from condition_state import ConditionState 
63