publisher_string_state.py

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#!/usr/bin/env python


from flexbe_core import EventState, Logger
from flexbe_core.proxy import ProxyPublisher
from std_msgs.msg import String

'''
Created on 9.11.2017

@author: Alireza Hosseini
'''


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):
        '''
                Constructor
                '''
        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)