status_tracker.py
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27 
28 # Author: Alexander Sorokin.
29 # Based on C++ goal_id_generator.h/cpp
30 import rospy
31 
32 import actionlib_msgs.msg
33 from actionlib import goal_id_generator
34 
35 
37  """
38  * @class StatusTracker
39  * @brief A class for storing the status of each goal the action server
40  * is currently working on
41  """
42 
43  def __init__(self, goal_id=None, status=None, goal=None):
44  """
45  @brief create status tracker. Either pass goal_id and status OR goal
46  """
47  self.goal = None
48  self.handle_tracker = None
49  self.status = actionlib_msgs.msg.GoalStatus()
50 
51  self.handle_destruction_time = rospy.Time()
52 
54 
55  if goal_id:
56  # set the goal id and status appropriately
57  self.status.goal_id = goal_id
58  self.status.status = status
59  else:
60  self.goal = goal
61  self.status.goal_id = goal.goal_id
62 
63  # initialize the status of the goal to pending
64  self.status.status = actionlib_msgs.msg.GoalStatus.PENDING
65 
66  # if the goal id is zero, then we need to make up an id for the goal
67  if self.status.goal_id.id == "":
68  self.status.goal_id = self.id_generator.generate_ID()
69 
70  # if the timestamp of the goal is zero, then we'll set it to now()
71  if self.status.goal_id.stamp == rospy.Time():
72  self.status.goal_id.stamp = rospy.Time.now()
def __init__(self, goal_id=None, status=None, goal=None)


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Tue Sep 3 2019 03:41:41