state_machine_simple.py
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00001 #!/usr/bin/env python
00002 
00003 import roslib; roslib.load_manifest('asmach_tutorials')
00004 import rospy
00005 import asmach as smach
00006 import smach_ros
00007 
00008 # define state Foo
00009 class Foo(smach.State):
00010     def __init__(self):
00011         smach.State.__init__(self, outcomes=['outcome1','outcome2'])
00012         self.counter = 0
00013 
00014     def execute(self, userdata):
00015         rospy.loginfo('Executing state FOO')
00016         if self.counter < 3:
00017             self.counter += 1
00018             return 'outcome1'
00019         else:
00020             return 'outcome2'
00021 
00022 
00023 # define state Bar
00024 class Bar(smach.State):
00025     def __init__(self):
00026         smach.State.__init__(self, outcomes=['outcome2'])
00027 
00028     def execute(self, userdata):
00029         rospy.loginfo('Executing state BAR')
00030         return 'outcome2'
00031         
00032 
00033 
00034 
00035 # main
00036 def main():
00037     rospy.init_node('smach_example_state_machine')
00038 
00039     # Create a SMACH state machine
00040     sm = smach.StateMachine(outcomes=['outcome4', 'outcome5'])
00041 
00042     # Open the container
00043     with sm:
00044         # Add states to the container
00045         smach.StateMachine.add('FOO', Foo(), 
00046                                transitions={'outcome1':'BAR', 
00047                                             'outcome2':'outcome4'})
00048         smach.StateMachine.add('BAR', Bar(), 
00049                                transitions={'outcome2':'FOO'})
00050 
00051     # Execute SMACH plan
00052     outcome = sm.execute()
00053 
00054 
00055 if __name__ == '__main__':
00056     main()


asmach_tutorials
Author(s): Jonathan Bohren
autogenerated on Thu Jan 2 2014 11:27:48