publisher_string_state.py

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#!/usr/bin/env python
from flexbe_core import EventState
from flexbe_core.proxy import ProxyPublisher
from std_msgs.msg import String


class PublisherStringState(EventState):
    '''
    Publishes a string (std_msgs/String) message on a given topic name.

    -- topic    string          The topic on which should be published.

    >= value                                    Value of string.

    <= done                                     Done publishing.
    '''

    def __init__(self, topic):
        super(PublisherStringState, self).__init__(outcomes=['done'], input_keys=['value'])
        self._topic = topic
        self._pub = ProxyPublisher({self._topic: String})

    def execute(self, userdata):
        return 'done'

    def on_enter(self, userdata):
        val = String()
        val.data = userdata.value
        self._pub.publish(self._topic, val)