arbitrator.py

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#!/usr/bin/env python
import roslib; roslib.load_manifest('arbitrator')
import rospy
import random
from roboframenet_msgs.msg import Procedure, FilledSemanticFrameListList

def cb_fsf(msg, pub):
    # Make a state machine.
    sm = Procedure()
    frame_lists = msg.frame_lists
    random.shuffle(frame_lists)
    sm.frame_lists = msg.frame_lists
    # Send task to executor
    pub.publish(sm)

def main():
    rospy.init_node('arbitrator')
    pub = rospy.Publisher('procedure', Procedure)
    rospy.Subscriber('filled_semantic_frames',
                     FilledSemanticFrameListList,
                     lambda msg: cb_fsf(msg, pub))
    rospy.spin()

if __name__ == '__main__':
    main()