scenario_execution_ros package

Subpackages

Submodules

Module contents

Main entry for scenario execution

class scenario_execution_ros.ROSScenarioExecution(*args: Any, **kwargs: Any)

Bases: ScenarioExecution

Class for scenario execution using ROS2 as middleware

on_scenario_shutdown(result, failure_message='', failure_output='')
post_setup()
run() → bool
setup_behaviour_tree(tree)

Setup the behaviour tree Using py_trees_ros to get a node handle on ROS2 and tick in syn with ROS2

Args:

tree [py_trees.behaviour.Behaviour]: root of the behaviour tree

return:

scenario_execution_py_trees_ros.trees.BehaviourTreeKwargs

shutdown()
class scenario_execution_ros.RosLogger(*args: Any, **kwargs: Any)

Bases: BaseLogger

Class for logger for ROS scenario execution

Args:

name [str]: name of the logger

debug(msg: str)

Log debug info in ROS2

Args:

msg [str]: msg to print

error(msg: str)

Log error in ROS2

Args:

msg [str]: msg to print

info(msg: str)

Log info in ROS2

Args:

msg [str]: msg to print

warning(msg: str)

Log warning in ROS2

Args:

msg [str]: msg to print